fg_rect fg_get_capture_window(fg_grabber *fg)
{
fg_rect rect = { 0, 0, 0, 0 };
struct v4l2_crop crop;
crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (v4l2_ioctl(fg->fd, VIDIOC_S_CROP, &crop) == -1)
{
if (errno == EINVAL)
{
fg_debug_error("fg_get_capture_window(): "
"device does not support cropping");
return rect;
}
else
{
fg_debug_error("fg_get_capture_window(): "
"getting cropping window failed");
return rect;
}
}
rect.left = crop.c.left;
rect.top = crop.c.top;
rect.width = crop.c.width;
rect.height = crop.c.height;
return rect;
}
//--------------------------------------------------------------------------
// TODO: fg_*_channel() functions not tested at all yet.
int fg_set_channel( fg_grabber* fg, float freq )
{
int val, scale;
struct v4l2_frequency frq;
if ( !(fg->inputs[fg->input].type & V4L2_INPUT_TYPE_TUNER) )
{
fg_debug_error("fg_set_channel(): current source is not a tuner");
return -1;
}
// TODO: is this still correct?
// The LOW flag means freq in 1/16 MHz, not 1/16 kHz
if ( fg->tuners[fg->tuner].capability & V4L2_TUNER_CAP_LOW )
scale = 16000;
else
scale = 16;
val = (int)( freq * scale );
frq.tuner = fg->inputs[fg->input].tuner;
frq.type = fg->tuners[fg->tuner].type;
frq.frequency = val;
FG_CLEAR(frq.reserved);
if ( v4l2_ioctl( fg->fd, VIDIOC_S_FREQUENCY, &frq ) < 0 )
{
fg_debug_error( "fg_set_channel(): failed to tune channel" );
return -1;
}
return 0;
}
int fg_grab_frame(fg_grabber *fg, fg_frame *fr)
{
for (;;)
{
fd_set fds;
struct timeval tv;
int r;
FD_ZERO(&fds);
FD_SET(fg->fd, &fds);
tv.tv_sec = FG_READ_TIMEOUT;
tv.tv_usec = 0;
r = select(fg->fd + 1, &fds, NULL, NULL, &tv);
if ( r == -1 )
{
if (EINTR == errno)
continue;
fg_debug_error("fg_grab_frame(): grabbing frame failed");
return -1;
}
if (0 == r)
{
fg_debug_error("fg_grab_frame(): frame grabbing timeout reached");
return -1;
}
if (v4l2_read(fg->fd, fr->data, fr->length) == -1) {
if (errno == EAGAIN)
continue;
else
{
fg_debug_error(
"fg_grab_frame(): error reading from device");
return -1;
}
}
else
{
gettimeofday(&(fr->timestamp), NULL);
return 0;
}
}
return -1;
}
int fg_frame_save( fg_frame* fr, const char* filename )
{
if (fr->format != FG_FORMAT_RGB24)
{
fg_debug_error("fg_frame_save(): failed because format is not RGB24");
return -1;
}
FILE *outfile;
if ( (outfile = fopen(filename, "wb")) == NULL)
{
fg_debug_error("fg_frame_save(): unable to open output file");
return -1;
}
struct jpeg_compress_struct cinfo;
struct jpeg_error_mgr jerr;
JSAMPROW row_pointer[1];
cinfo.err = jpeg_std_error(&jerr);
jpeg_create_compress(&cinfo);
jpeg_stdio_dest(&cinfo, outfile);
cinfo.in_color_space = JCS_RGB;
jpeg_set_defaults(&cinfo);
cinfo.image_width = fr->size.width;
cinfo.image_height = fr->size.height;
cinfo.input_components = 3;
cinfo.in_color_space = JCS_RGB;
jpeg_set_defaults(&cinfo);
jpeg_set_quality(&cinfo, 80, FALSE);
jpeg_start_compress(&cinfo, TRUE);
while (cinfo.next_scanline < cinfo.image_height)
{
row_pointer[0] = &(fr->data[cinfo.next_scanline*fr->rowstride]);
jpeg_write_scanlines(&cinfo, row_pointer, 1);
}
jpeg_finish_compress(&cinfo);
jpeg_destroy_compress(&cinfo);
return 0;
}
int fg_set_input(fg_grabber* fg, int index)
{
struct v4l2_format fmt;
if (index >= fg->num_inputs)
{
fg_debug_error("fg_set_input(): invalid input number");
return -1;
}
FG_CLEAR(fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (v4l2_ioctl(fg->fd, VIDIOC_G_FMT, &fmt) == -1)
{
fg_debug_error("fg_set_input(): failed saving current format");
return -1;
}
while (v4l2_ioctl(fg->fd, VIDIOC_S_INPUT, &index) == -1)
{
switch(errno)
{
case EBUSY:
continue;
case EINVAL:
default:
fg_debug_error( "fg_set_input(): set input failed" );
return -1;
}
}
// Reset the video format
fg->format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fg->format.fmt.pix.width = fmt.fmt.pix.width;
fg->format.fmt.pix.height = fmt.fmt.pix.height;
fg->format.fmt.pix.pixelformat = fmt.fmt.pix.pixelformat;
fg->format.fmt.pix.field = fmt.fmt.pix.field;
if (v4l2_ioctl(fg->fd, VIDIOC_S_FMT, &(fg->format)) == -1)
{
fg_debug_error("fg_set_input(): resetting video format failed");
return -1;
}
fg->input = index;
return 0;
}
int fg_get_format(fg_grabber *fg)
{
if (v4l2_ioctl(fg->fd, VIDIOC_G_FMT, &(fg->format)) == -1)
{
fg_debug_error("fg_get_format(): getting video format failed");
return -1;
}
return fg->format.fmt.pix.pixelformat;
}
int fg_get_input_type( fg_grabber* fg, int index )
{
if (index > fg->num_inputs - 1)
{
fg_debug_error("fg_get_input_type(): invalid input number" );
return -1;
}
return fg->inputs[index].type;
}
char *fg_get_input_name(fg_grabber *fg, int index)
{
if (index > fg->num_inputs - 1)
{
fg_debug_error("fg_get_input_name(): invalid input number" );
return NULL;
}
return (char *)fg->inputs[index].name;
}
int fg_get_input(fg_grabber *fg)
{
int current_input;
if (v4l2_ioctl(fg->fd, VIDIOC_G_INPUT, ¤t_input) == -1)
{
fg_debug_error("fg_get_input(): unable to get current input index.");
return -1;
}
return current_input;
}
void fg_unref(fg_grabber *fg)
{
// Make sure we free all memory (backwards!)
if (v4l2_close(fg->fd) != 0)
fg_debug_error("fg_close(): warning: failed closing device file");
free(fg->device);
free(fg->inputs);
free(fg->tuners);
free(fg->controls);
free(fg);
}
fg_size fg_get_capture_size(fg_grabber *fg)
{
fg_size size = { 0, 0 };
if (v4l2_ioctl(fg->fd, VIDIOC_G_FMT, &(fg->format)) == -1)
{
fg_debug_error("fg_get_capture_size(): getting capture size failed");
return size;
}
size.width = fg->format.fmt.pix.width;
size.height = fg->format.fmt.pix.height;
return size;
}
int fg_set_format(fg_grabber *fg, int fmt)
{
fg->format.fmt.pix.pixelformat = fmt;
if (v4l2_ioctl(fg->fd, VIDIOC_S_FMT, &(fg->format)) == -1)
{
fg_debug_error("fg_set_format(): setting video format failed");
return -1;
}
return 0;
}
int fg_set_capture_size(fg_grabber *fg, fg_size size)
{
fg->format.fmt.pix.width = size.width;
fg->format.fmt.pix.height = size.height;
if (v4l2_ioctl(fg->fd, VIDIOC_S_FMT, &(fg->format)) == -1)
{
fg_debug_error("fg_set_capture_size(): setting capture size to "
"'%dx%d failed", size.width, size.height);
return -1;
}
return 0;
}
fg_frame *fg_grab(fg_grabber *fg)
{
fg_frame *fr = fg_frame_new(fg);
if (fr == NULL)
{
fg_debug_error("fg_grab(): ran out of memory allocating frame");
return NULL;
}
if (fg_grab_frame(fg, fr) == -1)
{
free(fr);
return NULL;
}
return fr;
}
fg_frame *fg_frame_new(fg_grabber *fg)
{
fg_frame* fr = malloc( sizeof( fg_frame ) );
fr->size = fg_get_capture_size(fg);
fr->format = fg->format.fmt.pix.pixelformat;
fr->rowstride = fg->format.fmt.pix.bytesperline;
fr->length = fg->format.fmt.pix.sizeimage;
fr->data = malloc( fr->length );
if (fr->data == NULL)
{
fg_debug_error("frame_new(): ran out of memory allocating new frame");
free(fr);
return NULL;
}
return fr;
}
float fg_get_channel( fg_grabber* fg )
{
int scale;
struct v4l2_frequency freq;
// TODO: is this correct? (original lib was backwards from set func)
// The LOW flag means freq in 1/16 MHz, not 1/16 kHz
if (fg->tuners[fg->tuner].capability & V4L2_TUNER_CAP_LOW)
scale = 16000;
else
scale = 16;
freq.tuner = fg->tuner;
FG_CLEAR(freq.reserved);
if ( v4l2_ioctl( fg->fd, VIDIOC_G_FREQUENCY, &freq ) == -1 )
{
fg_debug_error( "fg_get_channel(): failed to query channel" );
return -1;
}
return ( freq.frequency / scale );
}
fg_grabber *fg_open(const char *dev)
{
fg_grabber* fg;
int i;
struct stat st;
struct v4l2_crop crop;
fg = malloc(sizeof(fg_grabber));
if (fg == NULL)
{
fg_debug_error(
"fg_open(): ran out of memory allocating frame grabber.");
return NULL;
}
// Make these safe to free()
fg->device = NULL;
fg->inputs = NULL;
fg->tuners = NULL;
fg->controls = NULL;
// Use default device if none specified
if (dev != NULL)
fg->device = strdup(dev);
else
fg->device = strdup(FG_DEFAULT_DEVICE);
// Verify the device exists
if (stat(fg->device, &st) == -1)
{
fg_debug_error("fg_open(): video device '%s' does not exist",
fg->device);
goto error_exit;
}
// Verify the device is a character device
if (!S_ISCHR(st.st_mode))
{
fg_debug_error("fg_open(): video device '%s' is not a "
"character device", fg->device);
goto error_exit;
}
// Open the video device
fg->fd = v4l2_open(fg->device, O_RDWR | O_NONBLOCK, 0);
if ( fg->fd == -1 )
{
fg_debug_error( "fg_open(): open video device failed" );
goto error_exit;
}
// Make sure child processes don't inherit video (close on exec)
fcntl(fg->fd, F_SETFD, FD_CLOEXEC);
// Get the device capabilities
if (v4l2_ioctl(fg->fd, VIDIOC_QUERYCAP, &(fg->caps)) == -1)
{
fg_debug_error( "fg_open(): query capabilities failed" );
goto error_exit;
}
// Make sure video capture is supported
if (!(fg->caps.capabilities & V4L2_CAP_VIDEO_CAPTURE))
{
fg_debug_error("fg_open(): video device does not support video capture");
goto error_exit;
}
// Determine the number of inputs
if ( (fg->num_inputs = fg_get_input_count(fg)) < 1 )
{
fg_debug_error("fg_open(): no video inputs were found on video device");
goto error_exit;
}
// Read info for all input sources
fg->input = 0;
fg->inputs = malloc(sizeof(struct v4l2_input) * fg->num_inputs);
if (fg->inputs == NULL)
{
fg_debug_error("fg_open(): ran out of memory allocating inputs.");
goto error_exit;
}
for (i=0; i < fg->num_inputs; i++)
{
fg->inputs[i].index = i;
if (v4l2_ioctl(fg->fd, VIDIOC_ENUMINPUT, &(fg->inputs[i])) == -1)
{
fprintf(stderr, "%d\n", i);
fg_debug_error("fg_open(): error getting input information");
goto error_exit;
}
}
if (fg_set_input(fg, fg->input) == -1)
{
fg_debug_error("fg_open(): error setting default input");
goto error_exit;
}
// Determine the number of tuners
fg->tuner = 0;
if ((fg->num_tuners = count_tuners(fg->fd)) > 0)
{
// Read info for all tuners
fg->tuners = malloc(sizeof(struct v4l2_tuner) * fg->num_tuners);
if (fg->tuners == NULL)
{
fg_debug_error("fg_open(): ran out of memory allocating tuners");
goto error_exit;
}
for (i=0; i < fg->num_tuners; i++)
{
fg->tuners[i].index = 0;
if (v4l2_ioctl(fg->fd, VIDIOC_G_TUNER, &(fg->tuners[i])) == -1)
{
fg_debug_error("fg_open(): error getting tuner information");
goto error_exit;
}
}
}
// Reset cropping to default (if supported)
FG_CLEAR(fg->cropcap);
fg->cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (v4l2_ioctl(fg->fd, VIDIOC_CROPCAP, &(fg->cropcap)) == 0)
{
crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
crop.c = fg->cropcap.defrect;
if (v4l2_ioctl(fg->fd, VIDIOC_S_CROP, &crop) == -1)
{
if (errno == EINVAL)
{
fg_debug("fg_open(): warning: cropping not supported");
}
else
{
fg_debug_error(
"fg_open(): error setting crop window on video device");
goto error_exit;
}
}
}
else
{
// should be fatal because the documentation says the VIDIOC_CROPCAP
// is mandatory on capture devices, but several of my devices disagree
fg_debug_error("fg_open(): warning: error getting cropping info");
// goto error_exit;
}
// Set the video format
FG_CLEAR(fg->format);
fg->format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fg->format.fmt.pix.width = FG_DEFAULT_WIDTH;
fg->format.fmt.pix.height = FG_DEFAULT_HEIGHT;
// libv4l should intervene here to support this format even if the
// device does not support it directly (phew!)
fg->format.fmt.pix.pixelformat = FG_FORMAT_RGB24;
fg->format.fmt.pix.field = V4L2_FIELD_INTERLACED;
if (v4l2_ioctl(fg->fd, VIDIOC_S_FMT, &(fg->format)) == -1)
{
fg_debug_error("fg_open(): setting video format failed");
goto error_exit;
}
// Reset all supported controls to defaults
if (fg_default_controls(fg) == -1)
{
fg_debug_error("fg_open(): failed setting controls to default.");
goto error_exit;
}
// List available frame rates
/*
struct v4l2_frmivalenum fi;
FG_CLEAR(fi);
fi.index = 0;
fi.pixel_format = fg->format.fmt.pix.pixelformat;
fi.width = fg->format.fmt.pix.width;
fi.height = fg->format.fmt.pix.height;
if (v4l2_ioctl(fg->fd, VIDIOC_ENUM_FRAMEINTERVALS, &fi) == -1)
{
fg_debug_error("fg_open(): error enumerating frame intervals");
goto error_exit;
}
switch(fi.type)
{
case V4L2_FRMIVAL_TYPE_DISCRETE:
fprintf(stderr, "DISCRETE: %d/%d\n", fi.discrete.numerator, fi.discrete.denominator);
break;
case V4L2_FRMIVAL_TYPE_STEPWISE:
fprintf(stderr, "STEPWISE\n");
break;
case V4L2_FRMIVAL_TYPE_CONTINUOUS:
fprintf(stderr, "CONTINUOUS\n");
break;
default:
fprintf(stderr, "ERR\n");
}
*/
return fg;
// Free memory allocated in this function and return NULL
error_exit:
fg_unref(fg);
return NULL;
}