void
camera_object_destroy(CameraObject *obj)
{
if (!obj || !obj->component)
return;
if (obj->input_connection)
mmal_connection_destroy(obj->input_connection);
if (obj->port_out && obj->port_out->is_enabled)
mmal_port_disable(obj->port_out);
if (obj->pool_out)
mmal_port_pool_destroy(obj->port_out, obj->pool_out);
mmal_component_disable(obj->component);
/* If this object created a buffer pool for sending data to another
| camera object input via a callback. Eg resizer.
*/
if (obj->callback_port_in && obj->callback_port_in->is_enabled)
mmal_port_disable(obj->callback_port_in);
if (obj->callback_pool_in)
mmal_port_pool_destroy(obj->callback_port_in, obj->callback_pool_in);
mmal_component_destroy(obj->component);
memset(obj, 0, sizeof(CameraObject));
}
void MmalStillCamera::createPreview()
{
MMAL_COMPONENT_T * preview = NULL;
MMAL_STATUS_T status;
try
{
status = mmal_component_create("vc.null_sink", &preview);
//status = mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_RENDERER, &preview);
if (status != MMAL_SUCCESS)
{
throw Exception("Error creating preview sink");
}
status = mmal_component_enable(preview);
if (status != MMAL_SUCCESS)
{
throw Exception("Error enabling preview");
}
}
catch (...)
{
if (preview != NULL)
{
mmal_component_destroy(preview);
}
throw;
}
m_preview = preview;
}
/**
* Destroy the camera component
*
* @param state Pointer to state control struct
*
*/
static void destroy_camera_component(RASPISTILL_STATE *state)
{
if (state->camera_component) {
mmal_component_destroy(state->camera_component);
state->camera_component = NULL;
}
}
MmalVideoCamera::~MmalVideoCamera()
{
// Disable the video port
if (m_videoPort != NULL && m_videoPort->is_enabled)
{
if (mmal_port_disable(m_videoPort) != MMAL_SUCCESS)
{
std::cerr << "Error disabling the video port" << std::endl;
}
else
{
std::cout << "Disabled the video port" << std::endl;
}
}
if (m_camera != NULL)
{
mmal_component_disable(m_camera);
}
if (m_pool != NULL)
{
mmal_port_pool_destroy(m_videoPort, m_pool);
}
if (m_camera != NULL)
{
mmal_component_destroy(m_camera);
}
delete m_callbackData;
m_callbackData = NULL;
}
/* Destroy SVP instance. svp may be NULL. */
void svp_destroy(SVP_T *svp)
{
if (svp)
{
MMAL_COMPONENT_T *components[] = { svp->reader, svp->video_decode, svp->camera };
MMAL_COMPONENT_T **comp;
/* Stop thread, disable connection and components */
svp_stop(svp);
for (comp = components; comp < components + vcos_countof(components); comp++)
{
mmal_component_disable(*comp);
}
/* Destroy connection + components */
if (svp->connection)
{
mmal_connection_destroy(svp->connection);
}
for (comp = components; comp < components + vcos_countof(components); comp++)
{
mmal_component_destroy(*comp);
}
/* Free remaining resources */
if (svp->out_pool)
{
mmal_pool_destroy(svp->out_pool);
}
if (svp->queue)
{
mmal_queue_destroy(svp->queue);
}
if (svp->created & SVP_CREATED_WD_TIMER)
{
vcos_timer_delete(&svp->wd_timer);
}
if (svp->created & SVP_CREATED_TIMER)
{
vcos_timer_delete(&svp->timer);
}
if (svp->created & SVP_CREATED_MUTEX)
{
vcos_mutex_delete(&svp->mutex);
}
if (svp->created & SVP_CREATED_SEM)
{
vcos_semaphore_delete(&svp->sema);
}
vcos_free(svp);
}
}
MMAL_STATUS_T nullsink_preview(RASPIPREVIEW_PARAMETERS *state)
{
MMAL_COMPONENT_T *preview = 0;
MMAL_PORT_T *preview_port = NULL;
MMAL_STATUS_T status;
status = mmal_component_create("vc.null_sink", &preview);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to create null sink component");
goto error;
}
status = mmal_component_enable(preview);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to enable preview/null sink component (%u)", status);
goto error;
}
state->preview_component = preview;
return status;
error:
if (preview)
mmal_component_destroy(preview);
return status;
}
/**
* Destroy the camera component
*
* @param state Pointer to state control struct
*
*/
void Private_Impl::destroy_camera_component ( RASPIVID_STATE *state ) {
if ( state->video_pool )
mmal_port_pool_destroy ( state->camera_component->output[MMAL_CAMERA_VIDEO_PORT], state->video_pool );
if ( state->camera_component ) {
mmal_component_destroy ( state->camera_component );
state->camera_component = NULL;
}
}
void Private_Impl_Still::destroyEncoder() {
if ( encoder_pool ) {
mmal_port_pool_destroy ( encoder->output[0], encoder_pool );
}
if ( encoder ) {
mmal_component_destroy ( encoder );
encoder = NULL;
}
}
bool CMMALVideo::DestroyDeinterlace()
{
MMAL_STATUS_T status;
if (g_advancedSettings.CanLogComponent(LOGVIDEO))
CLog::Log(LOGDEBUG, "%s::%s", CLASSNAME, __func__);
assert(m_deint);
assert(m_dec_output == m_deint->output[0]);
status = mmal_port_disable(m_dec_output);
if (status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to disable decoder output port (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
status = mmal_connection_destroy(m_deint_connection);
if (status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to destroy deinterlace connection (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
m_deint_connection = NULL;
status = mmal_component_disable(m_deint);
if (status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to disable deinterlace component (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
status = mmal_component_destroy(m_deint);
if (status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to destroy deinterlace component (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
m_deint = NULL;
m_dec->output[0]->buffer_size = m_dec->output[0]->buffer_size_min;
m_dec->output[0]->buffer_num = m_dec->output[0]->buffer_num_recommended;
m_dec->output[0]->userdata = (struct MMAL_PORT_USERDATA_T *)this;
status = mmal_port_enable(m_dec->output[0], dec_output_port_cb_static);
if (status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to enable decoder output port (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
m_dec_output = m_dec->output[0];
m_interlace_method = VS_INTERLACEMETHOD_NONE;
return true;
}
void CCamera::Release()
{
for(int i = 0; i < 4; i++)
{
if(Outputs[i])
{
Outputs[i]->Release();
delete Outputs[i];
Outputs[i] = NULL;
}
}
if(VidToSplitConn)
mmal_connection_destroy(VidToSplitConn);
if(CameraComponent)
mmal_component_destroy(CameraComponent);
if(SplitterComponent)
mmal_component_destroy(SplitterComponent);
VidToSplitConn = NULL;
CameraComponent = NULL;
SplitterComponent = NULL;
}
/**
* Destroy the encoder component
*
* @param state Pointer to state control struct
*
*/
static void destroy_encoder_component(RASPISTILL_STATE *state)
{
// Get rid of any port buffers first
if (state->encoder_pool) {
mmal_port_pool_destroy(state->encoder_component->output[0], state->encoder_pool);
}
if (state->encoder_component) {
mmal_component_destroy(state->encoder_component);
state->encoder_component = NULL;
}
}
void CCameraOutput::Release()
{
if(OutputQueue)
mmal_queue_destroy(OutputQueue);
if(BufferPool)
mmal_port_pool_destroy(BufferPort,BufferPool);
if(Connection)
mmal_connection_destroy(Connection);
if(ResizerComponent)
mmal_component_destroy(ResizerComponent);
memset(this,0,sizeof(CCameraOutput));
}
MMAL_COMPONENT_T* CCamera::createSplitterComponentAndSetupPorts(MMAL_PORT_T* video_output_port)
{
MMAL_COMPONENT_T *splitter = 0;
MMAL_ES_FORMAT_T *format;
MMAL_PORT_T *input_port = NULL, *output_port = NULL;
MMAL_STATUS_T status;
//create the camera component
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_SPLITTER, &splitter);
if (status != MMAL_SUCCESS)
{
printf("Failed to create splitter component\n");
goto error;
}
//check we have output ports
if (splitter->output_num != 4 || splitter->input_num != 1)
{
printf("Splitter doesn't have correct ports: %d, %d\n",splitter->input_num,splitter->output_num);
goto error;
}
//get the ports
input_port = splitter->input[0];
mmal_format_copy(input_port->format,video_output_port->format);
input_port->buffer_num = 3;
status = mmal_port_format_commit(input_port);
if (status != MMAL_SUCCESS)
{
printf("Couldn't set resizer input port format : error %d", status);
goto error;
}
for(int i = 0; i < splitter->output_num; i++)
{
output_port = splitter->output[i];
output_port->buffer_num = 3;
mmal_format_copy(output_port->format,input_port->format);
status = mmal_port_format_commit(output_port);
if (status != MMAL_SUCCESS)
{
printf("Couldn't set resizer output port format : error %d", status);
goto error;
}
}
return splitter;
error:
if(splitter)
mmal_component_destroy(splitter);
return NULL;
}
static boolean
component_create_check(CameraObject *obj, MMAL_STATUS_T status, char *msg)
{
if (status != MMAL_SUCCESS)
{
log_printf("%s: %s in create failed. Status: %s\n",
obj->name, msg, mmal_status[status]);
if (obj->component)
mmal_component_destroy(obj->component);
obj->component = NULL;
}
return obj->component ? TRUE : FALSE;
}
MmalStillCamera::~MmalStillCamera()
{
// Disable the process
if (m_targetPort != NULL && m_targetPort->is_enabled)
{
if (mmal_port_disable(m_targetPort) != MMAL_SUCCESS)
{
std::cerr << "Error disabling the encoder port" << std::endl;
}
}
if (m_camera != NULL)
{
mmal_component_disable(m_camera);
}
if (m_pool != NULL)
{
mmal_port_pool_destroy(m_targetPort, m_pool);
}
if (m_preview != NULL)
{
mmal_component_destroy(m_preview);
}
if (m_encoder != NULL)
{
mmal_component_destroy(m_encoder);
}
if (m_camera != NULL)
{
mmal_component_destroy(m_camera);
}
delete m_callbackData;
}
/** Destroys an instance of mmalplay.
* Note: this is test code. Do not use it in your app. It *will* change or even be removed without notice.
*/
void mmalplay_destroy(MMALPLAY_T *ctx)
{
unsigned int i;
LOG_TRACE("%p, %s", ctx, ctx->uri);
/* Disable connections */
for (i = ctx->connection_num; i; i--)
mmal_connection_disable(ctx->connection[i-1]);
LOG_INFO("--- statistics ---");
LOG_INFO("decoded %i frames in %.2fs (%.2ffps)", (int)ctx->decoded_frames,
ctx->time_playback / 1000000.0, ctx->decoded_frames * 1000000.0 / ctx->time_playback);
for (i = 0; i < ctx->connection_num; i++)
{
LOG_INFO("%s", ctx->connection[i]->name);
LOG_INFO("- setup time: %ims",
(int)(ctx->connection[i]->time_setup / 1000));
LOG_INFO("- enable time: %ims, disable time: %ims",
(int)(ctx->connection[i]->time_enable / 1000),
(int)(ctx->connection[i]->time_disable / 1000));
}
/* Destroy connections */
for (i = ctx->connection_num; i; i--)
mmal_connection_destroy(ctx->connection[i-1]);
/* Destroy components */
for (i = ctx->component_num; i; i--)
{
ctx->component[i-1].time_cleanup = vcos_getmicrosecs();
mmal_component_destroy(ctx->component[i-1].comp);
ctx->component[i-1].time_cleanup = vcos_getmicrosecs() - ctx->component[i-1].time_cleanup;
}
vcos_semaphore_delete(&ctx->event);
for (i = 0; i < ctx->component_num; i++)
{
LOG_INFO("%s:", ctx->component[i].name);
LOG_INFO("- setup time: %ims, cleanup time: %ims",
(int)(ctx->component[i].time_setup / 1000),
(int)(ctx->component[i].time_cleanup / 1000));
}
LOG_INFO("-----------------");
free(ctx);
}
int close_cam(RASPIVID_STATE *state) {
if (state->isInit) {
state -> isInit = 0;
MMAL_COMPONENT_T *camera = state->camera_component;
MMAL_PORT_T *camera_video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
//MMAL_COMPONENT_T *encoder = state->encoder_component;
//MMAL_PORT_T *encoder_output_port = state->encoder_component->output[0];
MMAL_PORT_T *camera_still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
PORT_USERDATA * pData = (PORT_USERDATA *)camera_video_port->userdata;
if (camera_still_port && camera_still_port->is_enabled)
mmal_port_disable(camera_still_port);
if (camera_video_port && camera_video_port->is_enabled)
mmal_port_disable(camera_video_port);
//mmal_connection_destroy(state->encoder_connection);
// Disable components
/*if (encoder)
mmal_component_disable(encoder);
*/
if (camera)
mmal_component_disable(camera);
//Destroy encoder component
// Get rid of any port buffers first
if (state->camera_pool) {
mmal_port_pool_destroy(camera_video_port, state->camera_pool);
}
free(pData->buffer[0]);
free(pData->buffer[1]);
/*if (encoder)
{
mmal_component_destroy(encoder);
encoder = NULL;
}*/
//destroy camera component
if (camera) {
mmal_component_destroy(camera);
camera = NULL;
}
return 0;
} else {
return 1;
}
}
static av_cold int ffmmal_close_decoder(AVCodecContext *avctx)
{
MMALDecodeContext *ctx = avctx->priv_data;
if (ctx->decoder)
ffmmal_stop_decoder(avctx);
mmal_component_destroy(ctx->decoder);
ctx->decoder = NULL;
mmal_queue_destroy(ctx->queue_decoded_frames);
mmal_pool_destroy(ctx->pool_in);
ffmmal_poolref_unref(ctx->pool_out);
mmal_vc_deinit();
return 0;
}
MMAL_STATUS_T raspipreview_create(
RASPIPREVIEW_PARAMETERS *state
)
{
MMAL_COMPONENT_T *preview = 0;
MMAL_PORT_T *preview_port = NULL;
MMAL_STATUS_T status;
// No preview required, so create a null sink component to take its place
status = mmal_component_create("vc.null_sink", &preview);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to create null sink component");
goto error;
}
/* Enable component */
status = mmal_component_enable(preview);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to enable preview/null sink component (%u)", status);
goto error;
}
state->preview_component = preview;
return status;
error:
if (preview)
mmal_component_destroy(preview);
return status;
}
void MmalVideoCamera::createCameraComponent()
{
MMAL_COMPONENT_T *camera = 0;
MMAL_ES_FORMAT_T *format;
MMAL_PORT_T *preview_port = NULL, *video_port = NULL, *still_port = NULL;
MMAL_STATUS_T status;
try
{
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera);
if (status != MMAL_SUCCESS)
{
throw Exception("Failed to create camera component");
}
if (camera->output_num == 0)
{
status = MMAL_ENOSYS;
throw Exception("Camera doesn't have output ports");
}
MMAL_CHECK(mmal_port_parameter_set_uint32(camera->control, MMAL_PARAMETER_CAMERA_CUSTOM_SENSOR_CONFIG, MMAL_VIDEO_SENSOR_MODE));
preview_port = camera->output[MMAL_CAMERA_PREVIEW_PORT];
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
// Populate the camera configuration struct
MMAL_PARAMETER_CAMERA_CONFIG_T cameraConfig;
cameraConfig.hdr.id = MMAL_PARAMETER_CAMERA_CONFIG;
cameraConfig.hdr.size = sizeof(cameraConfig);
cameraConfig.max_stills_w = m_imageWidth;
cameraConfig.max_stills_h = m_imageHeight;
cameraConfig.stills_yuv422 = 0;
cameraConfig.one_shot_stills = 0;
cameraConfig.max_preview_video_w = m_imagePreviewWidth;
cameraConfig.max_preview_video_h = m_imagePreviewHeight;
cameraConfig.num_preview_video_frames = 3;
cameraConfig.stills_capture_circular_buffer_height = 0;
cameraConfig.fast_preview_resume = 0;
cameraConfig.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC;
if (mmal_port_parameter_set(camera->control, &cameraConfig.hdr) != MMAL_SUCCESS)
{
throw Exception("Error calling mmal_port_parameter_set()");
}
//
// Setup the video port
//
format = video_port->format;
format->encoding = MMAL_ENCODING_BGR24;
format->encoding_variant = MMAL_ENCODING_BGR24;
format->es->video.width = VCOS_ALIGN_UP(m_imageWidth, 32);
format->es->video.height = VCOS_ALIGN_UP(m_imageHeight, 16);
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = m_imageWidth;
format->es->video.crop.height = m_imageHeight;
format->es->video.frame_rate.num = m_frameRate;
format->es->video.frame_rate.den = FULL_RES_VIDEO_FRAME_RATE_DEN;
status = mmal_port_format_commit(video_port);
if (status != MMAL_SUCCESS)
{
throw Exception("Failure to setup camera video port");
}
// Make sure we have enough video buffers
if (video_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
{
video_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
}
// Flip the image
MMAL_PARAMETER_MIRROR_T mirror = {{MMAL_PARAMETER_MIRROR, sizeof(MMAL_PARAMETER_MIRROR_T)}, MMAL_PARAM_MIRROR_NONE};
mirror.value = MMAL_PARAM_MIRROR_BOTH;
mmal_port_parameter_set(preview_port, &mirror.hdr);
mmal_port_parameter_set(video_port, &mirror.hdr);
mmal_port_parameter_set(still_port, &mirror.hdr);
// Enable component
status = mmal_component_enable(camera);
if (status != MMAL_SUCCESS)
{
throw Exception("camera component couldn't be enabled");
}
//int iso = 100;
//MMAL_CHECK(mmal_port_parameter_set_uint32(camera->control, MMAL_PARAMETER_ISO, iso));
// MMAL_PARAM_EXPOSUREMODE_OFF
//MMAL_PARAMETER_EXPOSUREMODE_T exp_mode = {{MMAL_PARAMETER_EXPOSURE_MODE, sizeof(exp_mode)}, MMAL_PARAM_EXPOSUREMODE_AUTO};
//MMAL_CHECK(mmal_port_parameter_set(camera->control, &exp_mode.hdr));
/*
// AWB MODE
{
std::cout << "Disabling auto white balancing" << std::endl;
MMAL_PARAMETER_AWBMODE_T param = {{MMAL_PARAMETER_AWB_MODE,sizeof(param)}, MMAL_PARAM_AWBMODE_OFF};
mmal_port_parameter_set(camera->control, ¶m.hdr);
}
// AWB GAIN
{
real redGain = 0.2;
real blueGain = 1.0;
std::cout << "Setting color gain, r=" << redGain << ", b=" << blueGain << std::endl;
MMAL_PARAMETER_AWB_GAINS_T param = {{MMAL_PARAMETER_CUSTOM_AWB_GAINS,sizeof(param)}, {0,0}, {0,0}};
param.r_gain.num = (unsigned int)(redGain * 65536);
param.b_gain.num = (unsigned int)(blueGain * 65536);
param.r_gain.den = param.b_gain.den = 65536;
mmal_port_parameter_set(camera->control, ¶m.hdr);
}
*/
std::cout << "Camera Enabled..." << std::endl;
}
catch (...)
{
if (camera != NULL)
{
mmal_component_destroy(camera);
}
throw;
}
m_camera = camera;
m_videoPort = video_port;
m_stillPort = still_port;
m_previewPort = preview_port;
}
void Private_Impl_Still::destroyCamera() {
if ( camera ) {
mmal_component_destroy ( camera );
camera = NULL;
}
}
/**
* Create the encoder component, set up its ports
*
* @param state Pointer to state control struct. encoder_component member set to the created camera_component if successfull.
*
* @return a MMAL_STATUS, MMAL_SUCCESS if all OK, something else otherwise
*/
static MMAL_STATUS_T create_encoder_component(RASPISTILL_STATE *state)
{
MMAL_COMPONENT_T *encoder = 0;
MMAL_PORT_T *encoder_input = NULL, *encoder_output = NULL;
MMAL_STATUS_T status;
MMAL_POOL_T *pool;
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_IMAGE_ENCODER, &encoder);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to create JPEG encoder component");
goto error;
}
if (!encoder->input_num || !encoder->output_num)
{
status = MMAL_ENOSYS;
vcos_log_error("JPEG encoder doesn't have input/output ports");
goto error;
}
encoder_input = encoder->input[0];
encoder_output = encoder->output[0];
// We want same format on input and output
mmal_format_copy(encoder_output->format, encoder_input->format);
// Specify out output format
encoder_output->format->encoding = state->encoding;
encoder_output->buffer_size = encoder_output->buffer_size_recommended;
if (encoder_output->buffer_size < encoder_output->buffer_size_min)
encoder_output->buffer_size = encoder_output->buffer_size_min;
encoder_output->buffer_num = encoder_output->buffer_num_recommended;
if (encoder_output->buffer_num < encoder_output->buffer_num_min)
encoder_output->buffer_num = encoder_output->buffer_num_min;
// Commit the port changes to the output port
status = mmal_port_format_commit(encoder_output);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set format on video encoder output port");
goto error;
}
// Set the JPEG quality level
status = mmal_port_parameter_set_uint32(encoder_output, MMAL_PARAMETER_JPEG_Q_FACTOR, state->quality);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set JPEG quality");
goto error;
}
// Set up any required thumbnail
{
MMAL_PARAMETER_THUMBNAIL_CONFIG_T param_thumb = {{MMAL_PARAMETER_THUMBNAIL_CONFIGURATION, sizeof(MMAL_PARAMETER_THUMBNAIL_CONFIG_T)}, 0, 0, 0, 0};
if ( state->thumbnailConfig.width > 0 && state->thumbnailConfig.height > 0 )
{
// Have a valid thumbnail defined
param_thumb.enable = 1;
param_thumb.width = state->thumbnailConfig.width;
param_thumb.height = state->thumbnailConfig.height;
param_thumb.quality = state->thumbnailConfig.quality;
}
status = mmal_port_parameter_set(encoder->control, ¶m_thumb.hdr);
}
// Enable component
status = mmal_component_enable(encoder);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to enable video encoder component");
goto error;
}
/* Create pool of buffer headers for the output port to consume */
pool = mmal_port_pool_create(encoder_output, encoder_output->buffer_num, encoder_output->buffer_size);
if (!pool)
{
vcos_log_error("Failed to create buffer header pool for encoder output port %s", encoder_output->name);
}
state->encoder_pool = pool;
state->encoder_component = encoder;
if (state->verbose)
fprintf(stderr, "Encoder component done\n");
return status;
error:
if (encoder)
mmal_component_destroy(encoder);
return status;
}
/**
* Create the camera component, set up its ports
*
* @param state Pointer to state control struct
*
* @return 0 if failed, pointer to component if successful
*
*/
static MMAL_STATUS_T create_camera_component(RASPISTILLYUV_STATE *state)
{
MMAL_COMPONENT_T *camera = 0;
MMAL_ES_FORMAT_T *format;
MMAL_PORT_T *preview_port = NULL, *video_port = NULL, *still_port = NULL;
MMAL_STATUS_T status;
MMAL_POOL_T *pool;
/* Create the component */
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to create camera component");
goto error;
}
MMAL_PARAMETER_INT32_T camera_num =
{{MMAL_PARAMETER_CAMERA_NUM, sizeof(camera_num)}, state->cameraNum};
status = mmal_port_parameter_set(camera->control, &camera_num.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Could not select camera : error %d", status);
goto error;
}
if (!camera->output_num)
{
status = MMAL_ENOSYS;
vcos_log_error("Camera doesn't have output ports");
goto error;
}
preview_port = camera->output[MMAL_CAMERA_PREVIEW_PORT];
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
if (state->settings)
{
MMAL_PARAMETER_CHANGE_EVENT_REQUEST_T change_event_request =
{{MMAL_PARAMETER_CHANGE_EVENT_REQUEST, sizeof(MMAL_PARAMETER_CHANGE_EVENT_REQUEST_T)},
MMAL_PARAMETER_CAMERA_SETTINGS, 1};
status = mmal_port_parameter_set(camera->control, &change_event_request.hdr);
if ( status != MMAL_SUCCESS )
{
vcos_log_error("No camera settings events");
}
}
// Enable the camera, and tell it its control callback function
status = mmal_port_enable(camera->control, camera_control_callback);
if (status != MMAL_SUCCESS )
{
vcos_log_error("Unable to enable control port : error %d", status);
goto error;
}
// set up the camera configuration
{
MMAL_PARAMETER_CAMERA_CONFIG_T cam_config =
{
{ MMAL_PARAMETER_CAMERA_CONFIG, sizeof(cam_config) },
.max_stills_w = state->width,
.max_stills_h = state->height,
.stills_yuv422 = 0,
.one_shot_stills = 1,
.max_preview_video_w = state->preview_parameters.previewWindow.width,
.max_preview_video_h = state->preview_parameters.previewWindow.height,
.num_preview_video_frames = 3,
.stills_capture_circular_buffer_height = 0,
.fast_preview_resume = 0,
.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC
};
if (state->fullResPreview)
{
cam_config.max_preview_video_w = state->width;
cam_config.max_preview_video_h = state->height;
}
mmal_port_parameter_set(camera->control, &cam_config.hdr);
}
raspicamcontrol_set_all_parameters(camera, &state->camera_parameters);
// Now set up the port formats
format = preview_port->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
if(state->camera_parameters.shutter_speed > 6000000)
{
MMAL_PARAMETER_FPS_RANGE_T fps_range = {{MMAL_PARAMETER_FPS_RANGE, sizeof(fps_range)},
{ 50, 1000 }, {166, 1000}};
mmal_port_parameter_set(preview_port, &fps_range.hdr);
}
else if(state->camera_parameters.shutter_speed > 1000000)
{
MMAL_PARAMETER_FPS_RANGE_T fps_range = {{MMAL_PARAMETER_FPS_RANGE, sizeof(fps_range)},
{ 166, 1000 }, {999, 1000}};
mmal_port_parameter_set(preview_port, &fps_range.hdr);
}
if (state->fullResPreview)
{
// In this mode we are forcing the preview to be generated from the full capture resolution.
// This runs at a max of 15fps with the OV5647 sensor.
format->es->video.width = VCOS_ALIGN_UP(state->width, 32);
format->es->video.height = VCOS_ALIGN_UP(state->height, 16);
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->width;
format->es->video.crop.height = state->height;
format->es->video.frame_rate.num = FULL_RES_PREVIEW_FRAME_RATE_NUM;
format->es->video.frame_rate.den = FULL_RES_PREVIEW_FRAME_RATE_DEN;
}
else
{
// Use a full FOV 4:3 mode
format->es->video.width = VCOS_ALIGN_UP(state->preview_parameters.previewWindow.width, 32);
format->es->video.height = VCOS_ALIGN_UP(state->preview_parameters.previewWindow.height, 16);
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->preview_parameters.previewWindow.width;
format->es->video.crop.height = state->preview_parameters.previewWindow.height;
format->es->video.frame_rate.num = PREVIEW_FRAME_RATE_NUM;
format->es->video.frame_rate.den = PREVIEW_FRAME_RATE_DEN;
}
status = mmal_port_format_commit(preview_port);
if (status != MMAL_SUCCESS )
{
vcos_log_error("camera viewfinder format couldn't be set");
goto error;
}
// Set the same format on the video port (which we dont use here)
mmal_format_full_copy(video_port->format, format);
status = mmal_port_format_commit(video_port);
if (status != MMAL_SUCCESS )
{
vcos_log_error("camera video format couldn't be set");
goto error;
}
// Ensure there are enough buffers to avoid dropping frames
if (video_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
video_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
format = still_port->format;
if(state->camera_parameters.shutter_speed > 6000000)
{
MMAL_PARAMETER_FPS_RANGE_T fps_range = {{MMAL_PARAMETER_FPS_RANGE, sizeof(fps_range)},
{ 50, 1000 }, {166, 1000}};
mmal_port_parameter_set(still_port, &fps_range.hdr);
}
else if(state->camera_parameters.shutter_speed > 1000000)
{
MMAL_PARAMETER_FPS_RANGE_T fps_range = {{MMAL_PARAMETER_FPS_RANGE, sizeof(fps_range)},
{ 167, 1000 }, {999, 1000}};
mmal_port_parameter_set(still_port, &fps_range.hdr);
}
// Set our stills format on the stills port
if (state->useRGB)
{
format->encoding = MMAL_ENCODING_BGR24;
format->encoding_variant = MMAL_ENCODING_BGR24;
}
else
{
format->encoding = MMAL_ENCODING_I420;
format->encoding_variant = MMAL_ENCODING_I420;
}
format->es->video.width = VCOS_ALIGN_UP(state->width, 32);
format->es->video.height = VCOS_ALIGN_UP(state->height, 16);
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->width;
format->es->video.crop.height = state->height;
format->es->video.frame_rate.num = STILLS_FRAME_RATE_NUM;
format->es->video.frame_rate.den = STILLS_FRAME_RATE_DEN;
if (still_port->buffer_size < still_port->buffer_size_min)
still_port->buffer_size = still_port->buffer_size_min;
still_port->buffer_num = still_port->buffer_num_recommended;
status = mmal_port_format_commit(still_port);
if (status != MMAL_SUCCESS )
{
vcos_log_error("camera still format couldn't be set");
goto error;
}
/* Enable component */
status = mmal_component_enable(camera);
if (status != MMAL_SUCCESS )
{
vcos_log_error("camera component couldn't be enabled");
goto error;
}
/* Create pool of buffer headers for the output port to consume */
pool = mmal_port_pool_create(still_port, still_port->buffer_num, still_port->buffer_size);
if (!pool)
{
vcos_log_error("Failed to create buffer header pool for camera still port %s", still_port->name);
}
state->camera_pool = pool;
state->camera_component = camera;
if (state->verbose)
fprintf(stderr, "Camera component done\n");
return status;
error:
if (camera)
mmal_component_destroy(camera);
return status;
}
MMAL_COMPONENT_T* CCamera::createCameraComponentAndSetupPorts()
{
MMAL_COMPONENT_T *camera = 0;
MMAL_ES_FORMAT_T *format;
MMAL_PORT_T *preview_port = NULL, *video_port = NULL, *still_port = NULL;
MMAL_STATUS_T status;
//create the camera component
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera);
if (status != MMAL_SUCCESS)
{
printf("Failed to create camera component\n");
return NULL;
}
//check we have output ports
if (!camera->output_num)
{
printf("Camera doesn't have output ports");
mmal_component_destroy(camera);
return NULL;
}
//get the 3 ports
preview_port = camera->output[MMAL_CAMERA_PREVIEW_PORT];
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
// Enable the camera, and tell it its control callback function
status = mmal_port_enable(camera->control, CameraControlCallback);
if (status != MMAL_SUCCESS)
{
printf("Unable to enable control port : error %d", status);
mmal_component_destroy(camera);
return NULL;
}
// set up the camera configuration
{
MMAL_PARAMETER_CAMERA_CONFIG_T cam_config;
cam_config.hdr.id = MMAL_PARAMETER_CAMERA_CONFIG;
cam_config.hdr.size = sizeof(cam_config);
cam_config.max_stills_w = Width;
cam_config.max_stills_h = Height;
cam_config.stills_yuv422 = 0;
cam_config.one_shot_stills = 0;
cam_config.max_preview_video_w = Width;
cam_config.max_preview_video_h = Height;
cam_config.num_preview_video_frames = 3;
cam_config.stills_capture_circular_buffer_height = 0;
cam_config.fast_preview_resume = 0;
cam_config.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC;
mmal_port_parameter_set(camera->control, &cam_config.hdr);
}
// setup preview port format - QUESTION: Needed if we aren't using preview?
format = preview_port->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = Width;
format->es->video.height = Height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = Width;
format->es->video.crop.height = Height;
format->es->video.frame_rate.num = FrameRate;
format->es->video.frame_rate.den = 1;
status = mmal_port_format_commit(preview_port);
if (status != MMAL_SUCCESS)
{
printf("Couldn't set preview port format : error %d", status);
mmal_component_destroy(camera);
return NULL;
}
//setup video port format
format = video_port->format;
format->encoding = MMAL_ENCODING_I420;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = Width;
format->es->video.height = Height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = Width;
format->es->video.crop.height = Height;
format->es->video.frame_rate.num = FrameRate;
format->es->video.frame_rate.den = 1;
status = mmal_port_format_commit(video_port);
if (status != MMAL_SUCCESS)
{
printf("Couldn't set video port format : error %d", status);
mmal_component_destroy(camera);
return NULL;
}
//setup still port format
format = still_port->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = Width;
format->es->video.height = Height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = Width;
format->es->video.crop.height = Height;
format->es->video.frame_rate.num = 1;
format->es->video.frame_rate.den = 1;
status = mmal_port_format_commit(still_port);
if (status != MMAL_SUCCESS)
{
printf("Couldn't set still port format : error %d", status);
mmal_component_destroy(camera);
return NULL;
}
//apply all camera parameters
raspicamcontrol_set_all_parameters(camera, &CameraParameters);
//enable the camera
status = mmal_component_enable(camera);
if (status != MMAL_SUCCESS)
{
printf("Couldn't enable camera\n");
mmal_component_destroy(camera);
return NULL;
}
return camera;
}
/**
* Create the camera component, set up its ports
*
* @param state Pointer to state control struct. camera_component member set to the created camera_component if successfull.
*
* @return MMAL_SUCCESS if all OK, something else otherwise
*
*/
static MMAL_STATUS_T create_camera_component(RASPISTILL_STATE *state)
{
MMAL_COMPONENT_T *camera = 0;
MMAL_ES_FORMAT_T *format;
MMAL_PORT_T *preview_port = NULL, *video_port = NULL, *still_port = NULL;
MMAL_STATUS_T status;
/* Create the component */
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to create camera component");
goto error;
}
if (!camera->output_num)
{
status = MMAL_ENOSYS;
vcos_log_error("Camera doesn't have output ports");
goto error;
}
preview_port = camera->output[MMAL_CAMERA_PREVIEW_PORT];
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
// Enable the camera, and tell it its control callback function
status = mmal_port_enable(camera->control, camera_control_callback);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to enable control port : error %d", status);
goto error;
}
// set up the camera configuration
{
MMAL_PARAMETER_CAMERA_CONFIG_T cam_config =
{
{ MMAL_PARAMETER_CAMERA_CONFIG, sizeof(cam_config) },
.max_stills_w = state->width,
.max_stills_h = state->height,
.stills_yuv422 = 0,
.one_shot_stills = 1,
.max_preview_video_w = state->preview_parameters.previewWindow.width,
.max_preview_video_h = state->preview_parameters.previewWindow.height,
.num_preview_video_frames = 3,
.stills_capture_circular_buffer_height = 0,
.fast_preview_resume = 0,
.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC
};
if (state->fullResPreview)
{
cam_config.max_preview_video_w = state->width;
cam_config.max_preview_video_h = state->height;
}
mmal_port_parameter_set(camera->control, &cam_config.hdr);
}
raspicamcontrol_set_all_parameters(camera, &state->camera_parameters);
// Now set up the port formats
format = preview_port->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
if (state->fullResPreview)
{
// In this mode we are forcing the preview to be generated from the full capture resolution.
// This runs at a max of 15fps with the OV5647 sensor.
format->es->video.width = state->width;
format->es->video.height = state->height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->width;
format->es->video.crop.height = state->height;
format->es->video.frame_rate.num = FULL_RES_PREVIEW_FRAME_RATE_NUM;
format->es->video.frame_rate.den = FULL_RES_PREVIEW_FRAME_RATE_DEN;
}
else
{
// use our normal preview mode - probably 1080p30
format->es->video.width = state->preview_parameters.previewWindow.width;
format->es->video.height = state->preview_parameters.previewWindow.height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->preview_parameters.previewWindow.width;
format->es->video.crop.height = state->preview_parameters.previewWindow.height;
format->es->video.frame_rate.num = PREVIEW_FRAME_RATE_NUM;
format->es->video.frame_rate.den = PREVIEW_FRAME_RATE_DEN;
}
status = mmal_port_format_commit(preview_port);
if (status != MMAL_SUCCESS)
{
vcos_log_error("camera viewfinder format couldn't be set");
goto error;
}
// Set the same format on the video port (which we dont use here)
mmal_format_full_copy(video_port->format, format);
status = mmal_port_format_commit(video_port);
if (status != MMAL_SUCCESS)
{
vcos_log_error("camera video format couldn't be set");
goto error;
}
// Ensure there are enough buffers to avoid dropping frames
if (video_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
video_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
format = still_port->format;
// Set our stills format on the stills (for encoder) port
format->encoding = MMAL_ENCODING_OPAQUE;
format->es->video.width = state->width;
format->es->video.height = state->height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->width;
format->es->video.crop.height = state->height;
format->es->video.frame_rate.num = STILLS_FRAME_RATE_NUM;
format->es->video.frame_rate.den = STILLS_FRAME_RATE_DEN;
status = mmal_port_format_commit(still_port);
if (status != MMAL_SUCCESS)
{
vcos_log_error("camera still format couldn't be set");
goto error;
}
/* Ensure there are enough buffers to avoid dropping frames */
if (still_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
still_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
/* Enable component */
status = mmal_component_enable(camera);
if (status != MMAL_SUCCESS)
{
vcos_log_error("camera component couldn't be enabled");
goto error;
}
state->camera_component = camera;
if (state->verbose)
fprintf(stderr, "Camera component done\n");
return status;
error:
if (camera)
mmal_component_destroy(camera);
return status;
}
MMAL_COMPONENT_T* CCameraOutput::createResizeComponentAndSetupPorts(MMAL_PORT_T* video_output_port, bool do_argb_conversion)
{
MMAL_COMPONENT_T *resizer = 0;
MMAL_ES_FORMAT_T *format;
MMAL_PORT_T *input_port = NULL, *output_port = NULL;
MMAL_STATUS_T status;
//create the camera component
status = mmal_component_create("vc.ril.resize", &resizer);
if (status != MMAL_SUCCESS)
{
printf("Failed to create reszie component\n");
goto error;
}
//check we have output ports
if (resizer->output_num != 1 || resizer->input_num != 1)
{
printf("Resizer doesn't have correct ports");
goto error;
}
//get the ports
input_port = resizer->input[0];
output_port = resizer->output[0];
mmal_format_copy(input_port->format,video_output_port->format);
input_port->buffer_num = 3;
status = mmal_port_format_commit(input_port);
if (status != MMAL_SUCCESS)
{
printf("Couldn't set resizer input port format : error %d", status);
goto error;
}
mmal_format_copy(output_port->format,input_port->format);
if(do_argb_conversion)
{
output_port->format->encoding = MMAL_ENCODING_RGBA;
output_port->format->encoding_variant = MMAL_ENCODING_RGBA;
}
output_port->format->es->video.width = Width;
output_port->format->es->video.height = Height;
output_port->format->es->video.crop.x = 0;
output_port->format->es->video.crop.y = 0;
output_port->format->es->video.crop.width = Width;
output_port->format->es->video.crop.height = Height;
status = mmal_port_format_commit(output_port);
if (status != MMAL_SUCCESS)
{
printf("Couldn't set resizer output port format : error %d", status);
goto error;
}
return resizer;
error:
if(resizer)
mmal_component_destroy(resizer);
return NULL;
}
/**
* Create the camera component, set up its ports
*
* @param state Pointer to state control struct
*
* @return 0 if failed, pointer to component if successful
*
*/
static MMAL_COMPONENT_T *create_camera_component(RASPISTILLYUV_STATE *state)
{
MMAL_COMPONENT_T *camera = 0;
MMAL_ES_FORMAT_T *format;
MMAL_PORT_T *preview_port = NULL, *video_port = NULL, *still_port = NULL;
MMAL_STATUS_T status;
MMAL_POOL_T *pool;
/* Create the component */
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to create camera component");
goto error;
}
if (!camera->output_num)
{
vcos_log_error("Camera doesn't have output ports");
goto error;
}
preview_port = camera->output[MMAL_CAMERA_PREVIEW_PORT];
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
// Enable the camera, and tell it its control callback function
status = mmal_port_enable(camera->control, camera_control_callback);
if (status)
{
vcos_log_error("Unable to enable control port : error %d", status);
goto error;
}
// set up the camera configuration
{
MMAL_PARAMETER_CAMERA_CONFIG_T cam_config =
{
{ MMAL_PARAMETER_CAMERA_CONFIG, sizeof(cam_config) },
.max_stills_w = state->width,
.max_stills_h = state->height,
.stills_yuv422 = 0,
.one_shot_stills = 0,
.max_preview_video_w = state->preview_parameters.previewWindow.width,
.max_preview_video_h = state->preview_parameters.previewWindow.height,
.num_preview_video_frames = 3,
.stills_capture_circular_buffer_height = 0,
.fast_preview_resume = 0,
.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC
};
mmal_port_parameter_set(camera->control, &cam_config.hdr);
}
raspicamcontrol_set_all_parameters(camera, &state->camera_parameters);
// Now set up the port formats
format = preview_port->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = state->preview_parameters.previewWindow.width;
format->es->video.height = state->preview_parameters.previewWindow.height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->preview_parameters.previewWindow.width;
format->es->video.crop.height = state->preview_parameters.previewWindow.height;
format->es->video.frame_rate.num = PREVIEW_FRAME_RATE_NUM;
format->es->video.frame_rate.den = PREVIEW_FRAME_RATE_DEN;
status = mmal_port_format_commit(preview_port);
if (status)
{
vcos_log_error("camera viewfinder format couldn't be set");
goto error;
}
// Set the same format on the video port (which we dont use here)
mmal_format_full_copy(video_port->format, format);
status = mmal_port_format_commit(video_port);
if (status)
{
vcos_log_error("camera video format couldn't be set");
goto error;
}
// Ensure there are enough buffers to avoid dropping frames
if (video_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
video_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
format = still_port->format;
// Set our stills format on the stills port
format->encoding = MMAL_ENCODING_I420;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = state->width;
format->es->video.height = state->height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->width;
format->es->video.crop.height = state->height;
format->es->video.frame_rate.num = STILLS_FRAME_RATE_NUM;
format->es->video.frame_rate.den = STILLS_FRAME_RATE_DEN;
if (still_port->buffer_size < still_port->buffer_size_min)
still_port->buffer_size = still_port->buffer_size_min;
still_port->buffer_num = still_port->buffer_num_recommended;
status = mmal_port_format_commit(still_port);
if (status)
{
vcos_log_error("camera still format couldn't be set");
goto error;
}
/* Enable component */
status = mmal_component_enable(camera);
if (status)
{
vcos_log_error("camera component couldn't be enabled");
goto error;
}
/* Create pool of buffer headers for the output port to consume */
pool = mmal_port_pool_create(still_port, still_port->buffer_num, still_port->buffer_size);
if (!pool)
{
vcos_log_error("Failed to create buffer header pool for camera still port %s", still_port->name);
}
state->camera_pool = pool;
state->camera_component = camera;
if (state->verbose)
printf("Camera component done\n");
return camera;
error:
if (camera)
mmal_component_destroy(camera);
return 0;
}
bool CCameraOutput::Init(int width, int height, MMAL_COMPONENT_T* input_component, int input_port_idx, bool do_argb_conversion)
{
printf("Init camera output with %d/%d\n",width,height);
Width = width;
Height = height;
MMAL_COMPONENT_T *resizer = 0;
MMAL_CONNECTION_T* connection = 0;
MMAL_STATUS_T status;
MMAL_POOL_T* video_buffer_pool = 0;
MMAL_QUEUE_T* output_queue = 0;
//got the port we're receiving from
MMAL_PORT_T* input_port = input_component->output[input_port_idx];
//check if user wants conversion to argb or the width or height is different to the input
if(do_argb_conversion || width != input_port->format->es->video.width || height != input_port->format->es->video.height)
{
//create the resizing component, reading from the splitter output
resizer = CreateResizeComponentAndSetupPorts(input_port,do_argb_conversion);
if(!resizer)
goto error;
//create and enable a connection between the video output and the resizer input
status = mmal_connection_create(&connection, input_port, resizer->input[0], MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if (status != MMAL_SUCCESS)
{
printf("Failed to create connection\n");
goto error;
}
status = mmal_connection_enable(connection);
if (status != MMAL_SUCCESS)
{
printf("Failed to enable connection\n");
goto error;
}
//set the buffer pool port to be the resizer output
BufferPort = resizer->output[0];
}
else
{
//no convert/resize needed so just set the buffer pool port to be the input port
BufferPort = input_port;
}
//setup the video buffer callback
video_buffer_pool = EnablePortCallbackAndCreateBufferPool(BufferPort,VideoBufferCallback,3);
if(!video_buffer_pool)
goto error;
//create the output queue
output_queue = mmal_queue_create();
if(!output_queue)
{
printf("Failed to create output queue\n");
goto error;
}
ResizerComponent = resizer;
BufferPool = video_buffer_pool;
OutputQueue = output_queue;
Connection = connection;
return true;
error:
if(output_queue)
mmal_queue_destroy(output_queue);
if(video_buffer_pool)
mmal_port_pool_destroy(resizer->output[0],video_buffer_pool);
if(connection)
mmal_connection_destroy(connection);
if(resizer)
mmal_component_destroy(resizer);
return false;
}
int main(int argc, char **argv)
{
MMAL_STATUS_T status = MMAL_EINVAL;
MMAL_COMPONENT_T *decoder = 0;
MMAL_POOL_T *pool_in = 0, *pool_out = 0;
unsigned int count;
if (argc < 2)
{
fprintf(stderr, "invalid arguments\n");
return -1;
}
#ifndef WIN32
// TODO verify that we dont really need to call bcm_host_init
bcm_host_init();
#endif
vcos_semaphore_create(&context.semaphore, "example", 1);
SOURCE_OPEN(argv[1]);
/* Create the decoder component.
* This specific component exposes 2 ports (1 input and 1 output). Like most components
* its expects the format of its input port to be set by the client in order for it to
* know what kind of data it will be fed. */
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_DECODER, &decoder);
CHECK_STATUS(status, "failed to create decoder");
/* Set format of video decoder input port */
MMAL_ES_FORMAT_T *format_in = decoder->input[0]->format;
format_in->type = MMAL_ES_TYPE_VIDEO;
format_in->encoding = MMAL_ENCODING_H264;
format_in->es->video.width = 1280;
format_in->es->video.height = 720;
format_in->es->video.frame_rate.num = 30;
format_in->es->video.frame_rate.den = 1;
format_in->es->video.par.num = 1;
format_in->es->video.par.den = 1;
/* If the data is known to be framed then the following flag should be set:
* format_in->flags |= MMAL_ES_FORMAT_FLAG_FRAMED; */
SOURCE_READ_CODEC_CONFIG_DATA(codec_header_bytes, codec_header_bytes_size);
status = mmal_format_extradata_alloc(format_in, codec_header_bytes_size);
CHECK_STATUS(status, "failed to allocate extradata");
format_in->extradata_size = codec_header_bytes_size;
if (format_in->extradata_size)
memcpy(format_in->extradata, codec_header_bytes, format_in->extradata_size);
status = mmal_port_format_commit(decoder->input[0]);
CHECK_STATUS(status, "failed to commit format");
/* Display the output port format */
MMAL_ES_FORMAT_T *format_out = decoder->output[0]->format;
fprintf(stderr, "%s\n", decoder->output[0]->name);
fprintf(stderr, " type: %i, fourcc: %4.4s\n", format_out->type, (char *)&format_out->encoding);
fprintf(stderr, " bitrate: %i, framed: %i\n", format_out->bitrate,
!!(format_out->flags & MMAL_ES_FORMAT_FLAG_FRAMED));
fprintf(stderr, " extra data: %i, %p\n", format_out->extradata_size, format_out->extradata);
fprintf(stderr, " width: %i, height: %i, (%i,%i,%i,%i)\n",
format_out->es->video.width, format_out->es->video.height,
format_out->es->video.crop.x, format_out->es->video.crop.y,
format_out->es->video.crop.width, format_out->es->video.crop.height);
/* The format of both ports is now set so we can get their buffer requirements and create
* our buffer headers. We use the buffer pool API to create these. */
decoder->input[0]->buffer_num = decoder->input[0]->buffer_num_min;
decoder->input[0]->buffer_size = decoder->input[0]->buffer_size_min;
decoder->output[0]->buffer_num = decoder->output[0]->buffer_num_min;
decoder->output[0]->buffer_size = decoder->output[0]->buffer_size_min;
pool_in = mmal_pool_create(decoder->input[0]->buffer_num,
decoder->input[0]->buffer_size);
pool_out = mmal_pool_create(decoder->output[0]->buffer_num,
decoder->output[0]->buffer_size);
/* Create a queue to store our decoded video frames. The callback we will get when
* a frame has been decoded will put the frame into this queue. */
context.queue = mmal_queue_create();
/* Store a reference to our context in each port (will be used during callbacks) */
decoder->input[0]->userdata = (void *)&context;
decoder->output[0]->userdata = (void *)&context;
/* Enable all the input port and the output port.
* The callback specified here is the function which will be called when the buffer header
* we sent to the component has been processed. */
status = mmal_port_enable(decoder->input[0], input_callback);
CHECK_STATUS(status, "failed to enable input port");
status = mmal_port_enable(decoder->output[0], output_callback);
CHECK_STATUS(status, "failed to enable output port");
/* Component won't start processing data until it is enabled. */
status = mmal_component_enable(decoder);
CHECK_STATUS(status, "failed to enable component");
/* Start decoding */
fprintf(stderr, "start decoding\n");
/* This is the main processing loop */
for (count = 0; count < 500; count++)
{
MMAL_BUFFER_HEADER_T *buffer;
/* Wait for buffer headers to be available on either of the decoder ports */
vcos_semaphore_wait(&context.semaphore);
/* Send data to decode to the input port of the video decoder */
if ((buffer = mmal_queue_get(pool_in->queue)) != NULL)
{
SOURCE_READ_DATA_INTO_BUFFER(buffer);
if (!buffer->length)
break;
fprintf(stderr, "sending %i bytes\n", (int)buffer->length);
status = mmal_port_send_buffer(decoder->input[0], buffer);
CHECK_STATUS(status, "failed to send buffer");
}
/* Get our decoded frames */
while ((buffer = mmal_queue_get(context.queue)) != NULL)
{
/* We have a frame, do something with it (why not display it for instance?).
* Once we're done with it, we release it. It will automatically go back
* to its original pool so it can be reused for a new video frame.
*/
fprintf(stderr, "decoded frame\n");
mmal_buffer_header_release(buffer);
}
/* Send empty buffers to the output port of the decoder */
while ((buffer = mmal_queue_get(pool_out->queue)) != NULL)
{
status = mmal_port_send_buffer(decoder->output[0], buffer);
CHECK_STATUS(status, "failed to send buffer");
}
}
/* Stop decoding */
fprintf(stderr, "stop decoding\n");
/* Stop everything. Not strictly necessary since mmal_component_destroy()
* will do that anyway */
mmal_port_disable(decoder->input[0]);
mmal_port_disable(decoder->output[0]);
mmal_component_disable(decoder);
error:
/* Cleanup everything */
if (decoder)
mmal_component_destroy(decoder);
if (pool_in)
mmal_pool_destroy(pool_in);
if (pool_out)
mmal_pool_destroy(pool_out);
if (context.queue)
mmal_queue_destroy(context.queue);
SOURCE_CLOSE();
vcos_semaphore_delete(&context.semaphore);
return status == MMAL_SUCCESS ? 0 : -1;
}
bool CCamera::Init(int width, int height, int framerate, int num_levels, bool do_argb_conversion)
{
//init broadcom host - QUESTION: can this be called more than once??
bcm_host_init();
//store basic parameters
Width = width;
Height = height;
FrameRate = framerate;
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&CameraParameters);
// Change default parameter, i.e .rotate image
int rotation = 90;
int my_rotation = ((rotation % 360 ) / 90) * 90;
CameraParameters.rotation = my_rotation;
//ret = mmal_port_parameter_set_int32(camera->output[0], MMAL_PARAMETER_ROTATION, my_rotation);
//mmal_port_parameter_set_int32(camera->output[1], MMAL_PARAMETER_ROTATION, my_rotation);
//mmal_port_parameter_set_int32(camera->output[2], MMAL_PARAMETER_ROTATION, my_rotation);
#ifdef WITH_ENCODER
MMAL_COMPONENT_T *encoder = 0;
#endif
MMAL_COMPONENT_T *camera = 0;
MMAL_COMPONENT_T *splitter = 0;
MMAL_CONNECTION_T* vid_to_split_connection = 0;
MMAL_PORT_T *video_port = NULL;
MMAL_STATUS_T status;
CCameraOutput* outputs[4]; memset(outputs,0,sizeof(outputs));
//create the camera component
camera = CreateCameraComponentAndSetupPorts();
if (!camera)
goto error;
//get the video port
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
video_port->buffer_num = 3;
//create the splitter component
splitter = CreateSplitterComponentAndSetupPorts(video_port);
if(!splitter)
goto error;
//create and enable a connection between the video output and the resizer input
status = mmal_connection_create(&vid_to_split_connection, video_port, splitter->input[0], MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if (status != MMAL_SUCCESS)
{
printf("Failed to create connection\n");
goto error;
}
status = mmal_connection_enable(vid_to_split_connection);
if (status != MMAL_SUCCESS)
{
printf("Failed to enable connection\n");
goto error;
}
//setup all the outputs
for(int i = 0; i < num_levels; i++)
{
outputs[i] = new CCameraOutput();
if(!outputs[i]->Init(Width >> i,Height >> i,splitter,i,do_argb_conversion))
{
printf("Failed to initialize output %d\n",i);
goto error;
}
}
#ifdef WITH_ENCODER
encoder = CreateEncoderComponentAndSetupPorts();
if (!encoder)
goto error;
#endif
//begin capture
if (mmal_port_parameter_set_boolean(video_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
{
printf("Failed to start capture\n");
goto error;
}
//store created info
CameraComponent = camera;
SplitterComponent = splitter;
VidToSplitConn = vid_to_split_connection;
memcpy(Outputs,outputs,sizeof(outputs));
//return success
printf("Camera successfully created\n");
return true;
error:
if(vid_to_split_connection)
mmal_connection_destroy(vid_to_split_connection);
if(camera)
mmal_component_destroy(camera);
if(splitter)
mmal_component_destroy(splitter);
for(int i = 0; i < 4; i++)
{
if(outputs[i])
{
outputs[i]->Release();
delete outputs[i];
}
}
#ifdef WITH_ENCODER
if(encoder){}
#endif
return false;
}
