static int dc1394_setup( struct dc1394_input *conf )
{
raw1394handle_t raw_handle;
nodeid_t *camera_nodes = NULL;
int numPorts;
int actual_count = 0, c, i;
struct raw1394_portinfo ports[16];
raw_handle = raw1394_new_handle();
if( ! raw_handle )
{
spook_log( SL_ERR,
"dc1394: unable to acquire a raw1394 handle" );
return -1;
}
numPorts = raw1394_get_port_info( raw_handle, ports, 16 );
raw1394_destroy_handle( raw_handle );
for( i = 0; i < numPorts; ++i )
{
int camCount = 0;
raw_handle = raw1394_new_handle();
raw1394_set_port( raw_handle, i );
camera_nodes = dc1394_get_camera_nodes( raw_handle,
&camCount, 1 );
raw1394_destroy_handle( raw_handle );
spook_log( SL_INFO, "dc1394: found %d cams on port %d",
camCount, i );
for( c = 0; c < camCount; ++c )
{
if( cam_setup( conf, actual_count, i,
camera_nodes[c], c ) < 0 )
return -1;
if( ++actual_count == conf->cam_count ) return 0;
}
// this doesn't work, fix later (just a li'l memory leak...)
//dc1394_free_camera_nodes( camera_nodes );
}
if( actual_count == 0 )
{
spook_log( SL_ERR, "dc1394: did not find any IIDC cameras" );
return -1;
}
if( actual_count < conf->cam_count )
spook_log( SL_WARN,
"dc1394: only found %d cameras, some outputs will be inactive",
actual_count );
return 0;
}
bool FirewirePort::Init(void)
{
// create firewire port handle
handle = raw1394_new_handle();
handle_bc = raw1394_new_handle();
if (!handle || !handle_bc) {
outStr << "FirewirePort: could not create handle" << std::endl;
return false;
}
PortListType::const_iterator it;
for (it = PortList.begin(); it != PortList.end(); it++) {
if ((*it)->PortNum == PortNum)
outStr << "WARNING: Firewire port " << PortNum
<< " is already used (be careful about thread safety)" << std::endl;
if ((*it)->handle == handle) // should never happen
outStr << "WARNING: Firewire handle is already used" << std::endl;
}
PortList.push_back(this);
memset(Node2Board, BoardIO::MAX_BOARDS, sizeof(Node2Board));
// set the bus reset handler
old_reset_handler = raw1394_set_bus_reset_handler(handle, reset_handler);
old_reset_handler = raw1394_set_bus_reset_handler(handle_bc, reset_handler);
// get number of ports
int nports = raw1394_get_port_info(handle, NULL, 0);
outStr << "FirewirePort: number of ports = " << nports << std::endl;
if (nports < PortNum) {
outStr << "FirewirePort: port " << PortNum << " does not exist" << std::endl;
raw1394_destroy_handle(handle);
handle = NULL;
return false;
}
if (raw1394_set_port(handle, PortNum) || raw1394_set_port(handle_bc, PortNum)) {
outStr << "FirewirePort: error setting port to " << PortNum << std::endl;
raw1394_destroy_handle(handle);
raw1394_destroy_handle(handle_bc);
handle = NULL;
handle_bc = NULL;
return false;
}
outStr << "FirewirePort: successfully initialized port " << PortNum << std::endl;
// stop cycle start packet
StopCycleStartPacket();
return ScanNodes();
}
int CameraDcam::getFirewirePortnum(void)
{
/*
* handling of ports not yet correct.
* variable not used as intended.
*/
raw1394handle_t handle; //handle to raw 1394 bus
struct raw1394_portinfo ports[MAX_PORTS];
//try to open raw 1394 handle
handle = raw1394_new_handle();
if ( handle == NULL)
{
GDOS_ERROR("error: No raw1394 handle found.\n");
return -DC1394_SUCCESS;
}
//get number of available ports
firewireNumPorts = raw1394_get_port_info(handle, ports, firewireNumPorts);
GDOS_DBG_INFO( "got portnum from 1394 bus.\n");
raw1394_destroy_handle(handle);
handle = NULL;
return DC1394_SUCCESS;
}
void icvInitCapture_DC1394(){
int p;
_V_MW_ fprintf(stderr,"icvInitCapture_DC1394\n");
raw1394handle_t raw_handle = raw1394_new_handle();
if( raw_handle == 0 ) {
numPorts = 0;
return;
}
numPorts = raw1394_get_port_info(raw_handle, ports, MAX_PORTS);
raw1394_destroy_handle(raw_handle);
for (p = 0; p < numPorts; p++) {
handles[p] = dc1394_create_handle(p);
if (handles[p]==NULL) { numPorts=-1; return; /*ERROR_CLEANUP_EXIT*/ }
/* get the camera nodes and describe them as we find them */
camera_nodes = dc1394_get_camera_nodes(handles[p], &camCount[p], 0);
for (int i=0;i<camCount[p];i++) {
cameras[numCameras].cam.node = camera_nodes[i];
cameras[numCameras].portnum = p;
dc1394_stop_iso_transmission(handles[p], camera_nodes[i]);
numCameras++;
}
}
};
static void
gst_hdv1394src_update_device_name (GstHDV1394Src * src)
{
raw1394handle_t handle;
gint portcount, port, nodecount, node;
rom1394_directory directory;
g_free (src->device_name);
src->device_name = NULL;
GST_LOG_OBJECT (src, "updating device name for current GUID");
handle = raw1394_new_handle ();
if (handle == NULL)
goto gethandle_failed;
portcount = raw1394_get_port_info (handle, NULL, 0);
for (port = 0; port < portcount; port++) {
if (raw1394_set_port (handle, port) >= 0) {
nodecount = raw1394_get_nodecount (handle);
for (node = 0; node < nodecount; node++) {
if (src->guid == rom1394_get_guid (handle, node)) {
if (rom1394_get_directory (handle, node, &directory) >= 0) {
g_free (src->device_name);
src->device_name = g_strdup (directory.label);
rom1394_free_directory (&directory);
goto done;
} else {
GST_WARNING ("error reading rom directory for node %d", node);
}
}
}
}
}
src->device_name = g_strdup ("Unknown"); /* FIXME: translate? */
done:
raw1394_destroy_handle (handle);
return;
/* ERRORS */
gethandle_failed:
{
GST_WARNING ("failed to get raw1394 handle: %s", g_strerror (errno));
src->device_name = g_strdup ("Unknown"); /* FIXME: translate? */
return;
}
}
static void resetBus() {
//cleanup primitive resources. required if the last user abruptly
//terminated. this method isn't ideal since it just resets the first bus,
//even though there might be more (there aren't on our robot, though).
raw1394handle_t handle = raw1394_new_handle();
if(!handle) {
CV_Error(CV_StsError, "unable to open raw1394 handle (is there a bus available on this computer?)");
}
const int numPorts = raw1394_get_port_info(handle, NULL, 0);
if(numPorts < 1) {
raw1394_destroy_handle(handle);
CV_Error(CV_StsError, "no raw1394 ports");
}
raw1394_set_port(handle, 0);
raw1394_reset_bus(handle);
raw1394_destroy_handle(handle);
}
int main(int argc, char **argv)
{
raw1394handle_t handle;
parse_args(argc, argv);
fprintf(stderr, "port: %ld\nloops: %ld\nfile: %s\n", which_port,
loopcount, filename);
handle = raw1394_new_handle();
if (!handle) {
if (!errno)
fprintf(stderr, "No working kernel driver found.\n");
else
perror("raw1394_get_handle");
exit(1);
}
do {
if (raw1394_get_port_info(handle, NULL, 0) <= which_port) {
fprintf(stderr, "Port %ld does not exist.\n",
which_port);
exit(1);
}
raw1394_set_port(handle, which_port);
} while (errno == ESTALE);
if (errno) {
perror("raw1394_set_port");
exit(1);
}
if (filename)
send_iso_file(handle);
fprintf(stderr, "\n");
raw1394_iso_shutdown(handle);
raw1394_destroy_handle(handle);
return 0;
}
bool linuxfwCamera::findCamera() {
// get the number of ports
raw1394handle_t phandle = raw1394_new_handle();
if (phandle==NULL) {
printf( "no firewire ports found\n");
return false;
}
struct raw1394_portinfo pinf;
int ports = raw1394_get_port_info(phandle, &pinf, 0);
dc1394_destroy_handle(phandle);
//printf("firewire ports: %d\n",ports);
if (ports<1) {
printf("no firewire ports found\n");
return false;
}
// open ohci and asign handle to it
for (int i=0;i<ports;i++) {
//printf("trying port %d\n",i);
handle = dc1394_create_handle(i);
// get the camera nodes and describe them as we find them
numNodes = raw1394_get_nodecount(handle);
camera_nodes = dc1394_get_camera_nodes(handle,&numCameras,0);
//fflush(stdout);
//printf("found %d cameras\n",numCameras);
if (numCameras<1) {
dc1394_destroy_handle(handle);
continue;
} else {
cameraID = 0;
return true;
}
}
fprintf( stderr, "no firewire camera found\n");
return false;
}
static GValueArray *
gst_1394_get_guid_array (void)
{
GValueArray *result = NULL;
raw1394handle_t handle = NULL;
int num_ports = 0;
int port = 0;
int num_nodes = 0;
int node = 0;
rom1394_directory directory;
GValue value = { 0, };
handle = raw1394_new_handle ();
if (handle == NULL)
return NULL;
num_ports = raw1394_get_port_info (handle, NULL, 0);
for (port = 0; port < num_ports; port++) {
if (raw1394_set_port (handle, port) >= 0) {
num_nodes = raw1394_get_nodecount (handle);
for (node = 0; node < num_nodes; node++) {
rom1394_get_directory (handle, node, &directory);
if (rom1394_get_node_type (&directory) == ROM1394_NODE_TYPE_AVC &&
avc1394_check_subunit_type (handle, node,
AVC1394_SUBUNIT_TYPE_VCR)) {
if (result == NULL)
result = g_value_array_new (3); /* looks like a sensible default */
g_value_init (&value, G_TYPE_UINT64);
g_value_set_uint64 (&value, rom1394_get_guid (handle, node));
g_value_array_append (result, &value);
g_value_unset (&value);
}
}
}
}
return result;
}
/** Open the raw1394 device and get a handle.
*
* \param port A 0-based number indicating which host adapter to use.
* \return a raw1394 handle.
*/
raw1394handle_t raw1394_open( int port )
{
int n_ports;
struct raw1394_portinfo pinf[ 16 ];
raw1394handle_t handle;
/* get a raw1394 handle */
#ifdef RAW1394_V_0_8
handle = raw1394_get_handle();
#else
handle = raw1394_new_handle();
#endif
if ( !handle )
{
fprintf( stderr, "raw1394 - failed to get handle: %s.\n", strerror( errno ) );
exit( EXIT_FAILURE );
}
if ( ( n_ports = raw1394_get_port_info( handle, pinf, 16 ) ) < 0 )
{
fprintf( stderr, "raw1394 - failed to get port info: %s.\n", strerror( errno ) );
raw1394_destroy_handle( handle );
exit( EXIT_FAILURE );
}
/* tell raw1394 which host adapter to use */
if ( raw1394_set_port( handle, port ) < 0 )
{
fprintf( stderr, "raw1394 - failed to set set port: %s.\n", strerror( errno ) );
exit( EXIT_FAILURE );
}
raw1394_set_userdata( handle, ( void* ) port );
return handle;
}
/** Open the raw1394 device and get a handle.
*
* \param port A 0-based number indicating which host adapter to use.
* \return a raw1394 handle.
*/
int raw1394_get_num_ports( void )
{
int n_ports;
struct raw1394_portinfo pinf[ 16 ];
raw1394handle_t handle;
/* get a raw1394 handle */
if ( !( handle = raw1394_new_handle() ) )
{
fprintf( stderr, "raw1394 - failed to get handle: %s.\n", strerror( errno ) );
exit( EXIT_FAILURE );
}
if ( ( n_ports = raw1394_get_port_info( handle, pinf, 16 ) ) < 0 )
{
fprintf( stderr, "raw1394 - failed to get port info: %s.\n", strerror( errno ) );
raw1394_destroy_handle( handle );
exit( EXIT_FAILURE );
}
raw1394_destroy_handle( handle );
return n_ports;
}
int main(int argc, char** argv)
{
int rc; /**< return code */
int port = 0; /*!< fw handle port number */
int nodeid = 0; /*!< arm server node id */
// parse command line (port number)
opterr = 0; // getopt no err output
const char short_options[] = "hp:n:";
int next_opt;
do {
next_opt = getopt(argc, argv, short_options);
switch(next_opt)
{
case 'h':
print_usage();
return EXIT_SUCCESS;
break;
case 'p':
port = atoi(optarg);
break;
case 'n':
nodeid = atoi(optarg);
break;
case '?':
std::cerr << "Invalid argument" << std::endl;
break;
default:
break;
}
}
while(next_opt != -1);
// ----- Get handle and set port for the handle -------
// create handle
handle = raw1394_new_handle();
if (handle == NULL) {
std::cerr << "**** Error: could not create 1394 handle " << strerror(errno) << std::endl;
return EXIT_FAILURE;
}
// get port number & sanity check
int numPorts = raw1394_get_port_info(handle, NULL, 0);
if (port < 0 || port >= numPorts) {
std::cerr << "Invalid port number" << std::endl;
return EXIT_FAILURE;
}
// let user to choose which port to use
rc = raw1394_set_port(handle, port);
if (rc) {
std::cerr << "**** Error: failed to set port " << strerror(errno) << std::endl;
return EXIT_FAILURE;
}
// -------- Set FireWire bus reset handler --------
// set bus reset handler
raw1394_set_bus_reset_handler(handle, my_bus_reset_handler);
// ----------------------------------------------------------------------------
// Start tutorial 4 async broadcast
// ----------------------------------------------------------------------------
/**
*
*/
// ----- receving end -------------
unsigned char channel = 0x5;
raw1394_iso_dma_recv_mode mode = RAW1394_DMA_DEFAULT;
raw1394_iso_recv_init(handle,
my_iso_recv_handler,
BUFFER, // buf_packets
PACKET_MAX, // max_packet_size
channel, // channel
mode, // dma mode
-1); // irq_interval
// start receiving
raw1394_iso_recv_start(handle, -1, -1, 0);
while (true)
{
rc = raw1394_loop_iterate(handle);
if (rc) break;
}
// stop, clean up & exit
raw1394_iso_stop(handle);
raw1394_iso_shutdown(handle);
raw1394_destroy_handle(handle);
return EXIT_SUCCESS;
}
void AVC1394Control::initialize()
{
int i;
current_command = COMMAND_NONE;
device = -1;
device_lock = new Mutex("AVC1394Control::device_lock");
#ifdef RAW1394_V_0_8
handle = raw1394_get_handle();
#else
handle = raw1394_new_handle();
#endif
//printf("AVC1394Control::initialize(): 1\n");
if(!handle)
{
//printf("AVC1394Control::initialize(): 2\n");
if(!errno)
{
//printf("AVC1394Control::initialize(): 3\n");
fprintf(stderr, "AVC1394Control::initialize(): Not Compatable!\n");
}
else
{
//printf("AVC1394Control::initialize(): 4\n");
fprintf(stderr, "AVC1394Control::initialize(): couldn't get handle\n");
}
return;
}
if(raw1394_set_port(handle, 0) < 0) {
//printf("AVC1394Control::initialize(): 5\n");
perror("AVC1394Control::initialize(): couldn't set port");
// raw1394_destroy_handle(handle);
return;
}
for(i = 0; i < raw1394_get_nodecount(handle); i++)
{
if(rom1394_get_directory(handle, i, &rom_dir) < 0)
{
//printf("AVC1394Control::initialize(): 6\n");
fprintf(stderr, "AVC1394Control::initialize(): node %d\n", i);
// raw1394_destroy_handle(handle);
return;
}
if((rom1394_get_node_type(&rom_dir) == ROM1394_NODE_TYPE_AVC) &&
avc1394_check_subunit_type(handle, i, AVC1394_SUBUNIT_TYPE_VCR))
{
//printf("AVC1394Control::initialize(): 7\n");
device = i;
break;
}
}
if(device == -1)
{
//printf("AVC1394Control::initialize(): 8\n");
fprintf(stderr, "AVC1394Control::initialize(): No AV/C Devices\n");
// raw1394_destroy_handle(handle);
return;
}
}
int cpi_enumerate_devices( unicap_device_t *device, int index )
{
raw1394handle_t raw1394handle;
int numcards;
struct raw1394_portinfo portinfo[16];
int current_index = 0;
int card = 0;
/* TRACE( "dcam_enumerate_devices ( i = %d ) \n", index ); */
raw1394handle = raw1394_new_handle();
if( !raw1394handle )
{
if( !errno )
{
TRACE( "dcam: no kernel support\n" );
return STATUS_NO_DEVICE;
}
else
{
TRACE( "dcam: can' t get handle\n" );
return STATUS_NO_DEVICE;
}
}
numcards = raw1394_get_port_info( raw1394handle, portinfo, 16 );
if( !numcards )
{
TRACE( "dcam: no 1394 cards!\n" );
raw1394_destroy_handle( raw1394handle );
return STATUS_NO_DEVICE;
}
else if( numcards < 0 )
{
raw1394_destroy_handle( raw1394handle );
return STATUS_NO_DEVICE;
}
raw1394_destroy_handle( raw1394handle );
// go through all present cards, search for cameras
for( card = 0; card < numcards; card++ )
{
int nodecount;
int node = 0;
if( ( raw1394handle = raw1394_new_handle_on_port( card ) ) == 0 )
{
return STATUS_NO_DEVICE;
}
raw1394_set_userdata( raw1394handle, 0 );
TRACE( "dcam: probing card %d\n", card );
nodecount = raw1394_get_nodecount( raw1394handle );
for( node = 0; node < nodecount; node++ )
{
int unit_directory_count;
int directory;
TRACE( "dcam: probing node %d\n", node );
// shortcut since most devices only have 1 unit directory
if( _dcam_is_compatible( raw1394handle, node, 0 ) )
{
if( index == current_index )
{
unicap_status_t status;
status = _dcam_get_device_info( raw1394handle, node, 0, device );
if( status == STATUS_SUCCESS )
{
TRACE( "found dcam\n" );
// got the device with the index we want
raw1394_destroy_handle( raw1394handle );
return status;
}
else
{
TRACE( "can not get device info!\n" );
}
}
current_index++;
continue;
}
unit_directory_count = _dcam_get_directory_count( raw1394handle, node );
if( unit_directory_count <= 1 )
{
TRACE( "directory count <= 1 for node: %d\n", node );
continue; // try next device
}
// scan through all directories of this device
for( directory = 1; directory < unit_directory_count; directory++ )
{
if( _dcam_is_compatible( raw1394handle, node, directory ) )
{
if( index == current_index )
{
unicap_status_t status;
status = _dcam_get_device_info( raw1394handle, node, directory, device );
if( status == STATUS_SUCCESS )
{
// got the device with the index we want
raw1394_destroy_handle( raw1394handle );
return status;
}
}
current_index++;
}
}// for( directory..
}// for( node..
raw1394_destroy_handle( raw1394handle );
}// for( card..
return STATUS_NO_DEVICE;
}
/*****************************************************************************
* Open: open the file
*****************************************************************************/
static int Open( vlc_object_t *p_this )
{
access_t *p_access = (access_t*)p_this;
access_sys_t *p_sys;
struct raw1394_portinfo port_inf[ 16 ];
msg_Dbg( p_access, "opening device" );
/* Set up p_access */
access_InitFields( p_access );
ACCESS_SET_CALLBACKS( NULL, Block, Control, NULL );
p_access->p_sys = p_sys = malloc( sizeof( access_sys_t ) );
if( !p_sys )
return VLC_EGENERIC;
p_sys->i_cards = 0;
p_sys->i_node = 0;
p_sys->i_port = 0;
p_sys->i_guid = 0;
p_sys->i_channel = 63;
p_sys->p_raw1394 = NULL;
p_sys->p_avc1394 = NULL;
p_sys->p_frame = NULL;
p_sys->p_ev = NULL;
vlc_mutex_init( &p_sys->lock );
p_sys->i_node = DiscoverAVC( p_access, &p_sys->i_port, p_sys->i_guid );
if( p_sys->i_node < 0 )
{
msg_Err( p_access, "failed to open a Firewire (IEEE1394) connection" );
Close( p_this );
return VLC_EGENERIC;
}
p_sys->p_avc1394 = AVCOpen( p_access, p_sys->i_port );
if( !p_sys->p_avc1394 )
{
msg_Err( p_access, "no Digital Video Control device found" );
Close( p_this );
return VLC_EGENERIC;
}
p_sys->p_raw1394 = raw1394_new_handle();
if( !p_sys->p_raw1394 )
{
msg_Err( p_access, "no Digital Video device found" );
Close( p_this );
return VLC_EGENERIC;
}
p_sys->i_cards = raw1394_get_port_info( p_sys->p_raw1394, port_inf, 16 );
if( p_sys->i_cards < 0 )
{
msg_Err( p_access, "failed to get port info" );
Close( p_this );
return VLC_EGENERIC;
}
if( raw1394_set_port( p_sys->p_raw1394, p_sys->i_port ) < 0 )
{
msg_Err( p_access, "failed to set port info" );
Close( p_this );
return VLC_EGENERIC;
}
if ( raw1394_iso_recv_init( p_sys->p_raw1394, Raw1394Handler,
ISOCHRONOUS_QUEUE_LENGTH, ISOCHRONOUS_MAX_PACKET_SIZE,
p_sys->i_channel, RAW1394_DMA_PACKET_PER_BUFFER, -1 ) < 0 )
{
msg_Err( p_access, "failed to init isochronous recv" );
Close( p_this );
return VLC_EGENERIC;
}
raw1394_set_userdata( p_sys->p_raw1394, p_access );
raw1394_iso_recv_start( p_sys->p_raw1394, -1, -1, 0 );
p_sys->raw1394_poll.fd = raw1394_get_fd( p_sys->p_raw1394 );
p_sys->raw1394_poll.events = POLLIN | POLLPRI;
/* Now create our event thread catcher */
p_sys->p_ev = calloc( 1, sizeof( *p_sys->p_ev ) );
if( !p_sys->p_ev )
{
msg_Err( p_access, "failed to create event thread struct" );
Close( p_this );
return VLC_ENOMEM;
}
p_sys->p_ev->p_frame = NULL;
p_sys->p_ev->pp_last = &p_sys->p_ev->p_frame;
p_sys->p_ev->p_access = p_access;
vlc_mutex_init( &p_sys->p_ev->lock );
if( vlc_clone( &p_sys->p_ev->thread, Raw1394EventThread,
p_sys->p_ev, VLC_THREAD_PRIORITY_OUTPUT ) )
{
msg_Err( p_access, "failed to clone event thread" );
Close( p_this );
return VLC_EGENERIC;
}
return VLC_SUCCESS;
}
int main(int argc, char **argv)
{
raw1394handle_t handle;
int retval;
quadlet_t rom[0x100];
size_t rom_size;
unsigned char rom_version;
rom1394_directory dir;
char *(leaf[2]);
handle = raw1394_new_handle();
if (!handle) {
if (!errno) {
printf(not_compatible);
} else {
perror("couldn't get handle");
printf(not_loaded);
}
exit(EXIT_FAILURE);
}
if (raw1394_set_port(handle, 0) < 0) {
perror("couldn't set port");
exit(EXIT_FAILURE);
}
/* get the current rom image */
retval=raw1394_get_config_rom(handle, rom, 0x100, &rom_size, &rom_version);
rom_size = rom1394_get_size(rom);
printf("get_config_rom returned %d, romsize %d, rom_version %d:",retval,rom_size,rom_version);
/* get the local directory */
rom1394_get_directory( handle, raw1394_get_local_id(handle) & 0x3f, &dir);
/* free the allocated mem for the textual leaves */
rom1394_free_directory( &dir);
/* add an RFC 2734 unit directory */
dir.unit_spec_id = 0x0000005e;
dir.unit_sw_version = 0x00000001;
leaf[0] = "IANA";
leaf[1] = "IPv4";
dir.nr_textual_leafs = 2;
dir.textual_leafs = leaf;
/* manipulate the rom */
retval = rom1394_add_unit( rom, &dir);
/* get the computed size of the rom image */
rom_size = rom1394_get_size(rom);
printf("rom1394_add_unit_directory returned %d, romsize %d:",retval,rom_size);
/* convert computed rom size from quadlets to bytes before update */
rom_size *= sizeof(quadlet_t);
retval = raw1394_update_config_rom(handle, rom, rom_size, rom_version);
printf("update_config_rom returned %d\n",retval);
printf("You need to reload your ieee1394 modules to reset the rom.\n");
raw1394_reset_bus(handle);
exit(EXIT_SUCCESS);
}
static int
gst_hdv1394src_discover_avc_node (GstHDV1394Src * src)
{
int node = -1;
int i, j = 0;
int m = src->num_ports;
if (src->port >= 0) {
/* search on explicit port */
j = src->port;
m = j + 1;
}
/* loop over all our ports */
for (; j < m && node == -1; j++) {
raw1394handle_t handle;
struct raw1394_portinfo pinf[16];
/* open the port */
handle = raw1394_new_handle ();
if (!handle) {
GST_WARNING ("raw1394 - failed to get handle: %s.\n", strerror (errno));
continue;
}
if (raw1394_get_port_info (handle, pinf, 16) < 0) {
GST_WARNING ("raw1394 - failed to get port info: %s.\n",
strerror (errno));
goto next;
}
/* tell raw1394 which host adapter to use */
if (raw1394_set_port (handle, j) < 0) {
GST_WARNING ("raw1394 - failed to set set port: %s.\n", strerror (errno));
goto next;
}
/* now loop over all the nodes */
for (i = 0; i < raw1394_get_nodecount (handle); i++) {
/* are we looking for an explicit GUID ? */
if (src->guid != 0) {
if (src->guid == rom1394_get_guid (handle, i)) {
node = i;
src->port = j;
g_free (src->uri);
src->uri = g_strdup_printf ("dv://%d", src->port);
break;
}
} else {
rom1394_directory rom_dir;
/* select first AV/C Tape Recorder Player node */
if (rom1394_get_directory (handle, i, &rom_dir) < 0) {
GST_WARNING ("error reading config rom directory for node %d\n", i);
continue;
}
if ((rom1394_get_node_type (&rom_dir) == ROM1394_NODE_TYPE_AVC) &&
avc1394_check_subunit_type (handle, i, AVC1394_SUBUNIT_TYPE_VCR)) {
node = i;
src->port = j;
src->guid = rom1394_get_guid (handle, i);
g_free (src->uri);
src->uri = g_strdup_printf ("dv://%d", src->port);
g_free (src->device_name);
src->device_name = g_strdup (rom_dir.label);
break;
}
rom1394_free_directory (&rom_dir);
}
}
next:
raw1394_destroy_handle (handle);
}
return node;
}
int main(int argc, char** argv)
{
int rc; /**< return code */
int port = 0; /*!< fw handle port number */
int nodeid = 0; /*!< arm server node id */
// parse command line (port number)
opterr = 0; // getopt no err output
const char short_options[] = "hp:n:";
int next_opt;
do {
next_opt = getopt(argc, argv, short_options);
switch(next_opt)
{
case 'h':
print_usage();
return EXIT_SUCCESS;
break;
case 'p':
port = atoi(optarg);
break;
case 'n':
nodeid = atoi(optarg);
break;
case '?':
std::cerr << "Invalid argument" << std::endl;
break;
default:
break;
}
}
while(next_opt != -1);
// ----- Get handle and set port for the handle -------
// create handle
handle = raw1394_new_handle();
if (handle == NULL) {
std::cerr << "**** Error: could not create 1394 handle " << strerror(errno) << std::endl;
return EXIT_FAILURE;
}
// get port number & sanity check
int numPorts = raw1394_get_port_info(handle, NULL, 0);
if (port < 0 || port >= numPorts) {
std::cerr << "Invalid port number" << std::endl;
return EXIT_FAILURE;
}
// let user to choose which port to use
rc = raw1394_set_port(handle, port);
if (rc) {
std::cerr << "**** Error: failed to set port " << strerror(errno) << std::endl;
return EXIT_FAILURE;
}
// -------- Set FireWire bus reset handler --------
// set bus reset handler
raw1394_set_bus_reset_handler(handle, my_bus_reset_handler);
// ----------------------------------------------------------------------------
// Start tutorial 6 isochronous send
// ----------------------------------------------------------------------------
/**
* raw1394_iso_xmit_init - initialize isochronous transmission
* @handle: libraw1394 handle
* @handler: handler function for queueing packets
* @buf_packets: number of isochronous packets to buffer
* @max_packet_size: largest packet you need to handle, in bytes
* (not including the isochronous header)
* @channel: isochronous channel on which to transmit
* @speed: speed at which to transmit
* @irq_interval: maximum latency of wake-ups, in packets (-1 if you don't care)
*
* Allocates all user and kernel resources necessary for isochronous transmission.
* Channel and bandwidth allocation at the IRM is not performed.
*
* Returns: 0 on success or -1 on failure (sets errno)
**/
size_t length;
unsigned char channel, tag, sy;
unsigned char buffer[BUF_SIZE + BUF_HEAD];
channel = 5;
tag = 6;
sy = 7;
// ----- transmitting end -------------
rc = raw1394_iso_xmit_init(handle, // 1394 handle
NULL, // xmit handler
BUFFER, // iso packets to buffer
MAX_PACKET, // max packet size
channel, // just pick 5 for fun
RAW1394_ISO_SPEED_400,
-1); // irq_interval
if (rc) {
perror("raw1394_iso_xmit_init");
exit(1);
}
rc = raw1394_iso_xmit_start(handle, -1, -1);
if (rc) {
perror("raw1394_iso_xmit_start");
exit(1);
}
quadlet_t data = 0x0;
while (true) {
rc = raw1394_iso_xmit_write(handle,
(unsigned char *)&data,
4,
tag,
sy);
if (rc) {
perror("\nraw1394_iso_xmit_write");
break;
}
// data++;
// std::cout << "data = " << data << std::endl;
}
// stop, clean up & exit
raw1394_iso_stop(handle);
raw1394_iso_shutdown(handle);
raw1394_destroy_handle(handle);
return EXIT_SUCCESS;
}
static gboolean
gst_hdv1394src_start (GstBaseSrc * bsrc)
{
GstHDV1394Src *src = GST_HDV1394SRC (bsrc);
int control_sock[2];
src->connected = FALSE;
if (socketpair (PF_UNIX, SOCK_STREAM, 0, control_sock) < 0)
goto socket_pair;
READ_SOCKET (src) = control_sock[0];
WRITE_SOCKET (src) = control_sock[1];
if (fcntl (READ_SOCKET (src), F_SETFL, O_NONBLOCK) < 0)
GST_ERROR_OBJECT (src, "failed to make read socket non-blocking: %s",
g_strerror (errno));
if (fcntl (WRITE_SOCKET (src), F_SETFL, O_NONBLOCK) < 0)
GST_ERROR_OBJECT (src, "failed to make write socket non-blocking: %s",
g_strerror (errno));
src->handle = raw1394_new_handle ();
if (!src->handle) {
if (errno == EACCES)
goto permission_denied;
else if (errno == ENOENT)
goto not_found;
else
goto no_handle;
}
src->num_ports = raw1394_get_port_info (src->handle, src->pinfo, 16);
if (src->num_ports == 0)
goto no_ports;
if (src->use_avc || src->port == -1)
src->avc_node = gst_hdv1394src_discover_avc_node (src);
/* lets destroy handle and create one on port
this is more reliable than setting port on
the existing handle */
raw1394_destroy_handle (src->handle);
src->handle = raw1394_new_handle_on_port (src->port);
if (!src->handle)
goto cannot_set_port;
raw1394_set_userdata (src->handle, src);
raw1394_set_bus_reset_handler (src->handle, gst_hdv1394src_bus_reset);
{
nodeid_t m_node = (src->avc_node | 0xffc0);
int m_channel = -1;
int m_bandwidth = 0;
int m_outputPort = -1;
int m_inputPort = -1;
m_channel = iec61883_cmp_connect (src->handle, m_node, &m_outputPort,
raw1394_get_local_id (src->handle), &m_inputPort, &m_bandwidth);
if (m_channel >= 0) {
src->channel = m_channel;
}
}
if ((src->iec61883mpeg2 =
iec61883_mpeg2_recv_init (src->handle,
gst_hdv1394src_iec61883_receive, src)) == NULL)
goto cannot_initialise_dv;
#if 0
raw1394_set_iso_handler (src->handle, src->channel,
gst_hdv1394src_iso_receive);
#endif
GST_DEBUG_OBJECT (src, "successfully opened up 1394 connection");
src->connected = TRUE;
if (iec61883_mpeg2_recv_start (src->iec61883mpeg2, src->channel) != 0)
goto cannot_start;
#if 0
if (raw1394_start_iso_rcv (src->handle, src->channel) < 0)
goto cannot_start;
#endif
if (src->use_avc) {
raw1394handle_t avc_handle = raw1394_new_handle_on_port (src->port);
GST_LOG ("We have an avc_handle");
/* start the VCR */
if (avc_handle) {
if (!avc1394_vcr_is_recording (avc_handle, src->avc_node)
&& avc1394_vcr_is_playing (avc_handle, src->avc_node)
!= AVC1394_VCR_OPERAND_PLAY_FORWARD) {
GST_LOG ("Calling avc1394_vcr_play()");
avc1394_vcr_play (avc_handle, src->avc_node);
}
raw1394_destroy_handle (avc_handle);
} else {
GST_WARNING_OBJECT (src, "Starting VCR via avc1394 failed: %s",
g_strerror (errno));
}
}
return TRUE;
socket_pair:
{
GST_ELEMENT_ERROR (src, RESOURCE, OPEN_READ_WRITE, (NULL),
GST_ERROR_SYSTEM);
return FALSE;
}
permission_denied:
{
GST_ELEMENT_ERROR (src, RESOURCE, OPEN_READ, (NULL), GST_ERROR_SYSTEM);
return FALSE;
}
not_found:
{
GST_ELEMENT_ERROR (src, RESOURCE, NOT_FOUND, (NULL), GST_ERROR_SYSTEM);
return FALSE;
}
no_handle:
{
GST_ELEMENT_ERROR (src, RESOURCE, OPEN_READ, (NULL),
("can't get raw1394 handle (%s)", g_strerror (errno)));
return FALSE;
}
no_ports:
{
raw1394_destroy_handle (src->handle);
src->handle = NULL;
GST_ELEMENT_ERROR (src, RESOURCE, NOT_FOUND, (NULL),
("no ports available for raw1394"));
return FALSE;
}
cannot_set_port:
{
GST_ELEMENT_ERROR (src, RESOURCE, SETTINGS, (NULL),
("can't set 1394 port %d", src->port));
return FALSE;
}
cannot_start:
{
raw1394_destroy_handle (src->handle);
src->handle = NULL;
iec61883_mpeg2_close (src->iec61883mpeg2);
src->iec61883mpeg2 = NULL;
GST_ELEMENT_ERROR (src, RESOURCE, READ, (NULL),
("can't start 1394 iso receive"));
return FALSE;
}
cannot_initialise_dv:
{
raw1394_destroy_handle (src->handle);
src->handle = NULL;
GST_ELEMENT_ERROR (src, RESOURCE, READ, (NULL),
("can't initialise iec61883 hdv"));
return FALSE;
}
}
int main(int argc, char** argv)
{
int rc; /**< return code */
int port = 0; /*!< fw handle port number */
// parse command line (port number)
opterr = 0; // getopt no err output
const char short_options[] = "p:";
int next_opt;
do {
next_opt = getopt(argc, argv, short_options);
switch(next_opt)
{
case 'p':
port = atoi(optarg);
break;
case '?':
std::cerr << "Invalid argument" << std::endl;
break;
default:
break;
}
}
while(next_opt != -1);
// Setup signal handler to exit on Ctrl-C
signal(SIGINT, signal_handler);
// ----- Get handle and set port for the handle -------
// create handle
handle = raw1394_new_handle();
if (handle == NULL) {
std::cerr << "**** Error: could not create 1394 handle " << strerror(errno) << std::endl;
return EXIT_FAILURE;
}
// get port number & sanity check
int numPorts = raw1394_get_port_info(handle, NULL, 0);
if (port < 0 || port >= numPorts) {
std::cerr << "Invalid port number" << std::endl;
return EXIT_FAILURE;
}
// let user to choose which port to use
rc = raw1394_set_port(handle, 0);
if (rc) {
std::cerr << "**** Error: failed to set port " << strerror(errno) << std::endl;
return EXIT_FAILURE;
}
// -------- Set FireWire bus reset handler --------
// set bus reset handler
bus_reset_handler_t old_bus_reset_handler;
old_bus_reset_handler = raw1394_set_bus_reset_handler(handle, my_bus_reset_handler);
// ----------------------------------------------------------------------------
// Start tutorial 2 arm server
// ----------------------------------------------------------------------------
// -------- Register arm register to handle arm request --------
const nodeaddr_t arm_start_addr = 0xffffff000000; // arm start address
const size_t arm_length = 4; // arm length to register
// arm initial buffer
byte_t arm_init_buffer[arm_length];
memset(arm_init_buffer, 0x02, arm_length); // set inital value to all 0x02
// setup arm request handle
raw1394_arm_reqhandle arm_reqhandle;
char my_arm_callback_context[] = "my_arm_callback_context";
arm_reqhandle.pcontext = my_arm_callback_context;
arm_reqhandle.arm_callback = my_arm_req_callback;
int access_mode = RAW1394_ARM_WRITE|RAW1394_ARM_READ; // allow read and write transaction
rc = raw1394_arm_register(handle, // fw handle
arm_start_addr, // arm start address
arm_length * 4, // arm_length quadlet * 4 to bytes
arm_init_buffer, // arm init buffer value
(octlet_t) &arm_reqhandle, // arm request handler
access_mode, // access permission
access_mode, // client handler will be notified
0); // client handler will need to handle these transactions
if (rc) {
std::cerr << "**** Error: failed to setup arm register, error " << strerror(errno) << std::endl;
return EXIT_FAILURE;
}
// -------- Read from this arm buffer ---------
// NOTE: this is a simple way to test if
const size_t arm_read_size = 4;
byte_t arm_read_buffer[arm_read_size];
rc = raw1394_arm_get_buf(handle, arm_start_addr, arm_read_size, arm_read_buffer);
if (rc) {
std::cerr << "**** Error: failed to read arm register, error " << strerror(errno) << std::endl;
return EXIT_FAILURE;
} else {
// if success then print value
std::cout << "ARM buffer read value: \n";
for (size_t i = 0; i < arm_read_size; i++) {
std::cout << std::hex << " " << (int)arm_read_buffer[i];
}
std::cout << std::endl;
}
// -------- Set value to this arm buffer ---------
const size_t arm_write_size = 4;
byte_t arm_write_buffer[arm_write_size] = {0x11, 0x22, 0x33, 0x44};
rc = raw1394_arm_set_buf(handle, arm_start_addr, arm_write_size, arm_write_buffer);
if (rc) {
std::cerr << "**** Error: failed to set arm register, error " << strerror(errno) << std::endl;
return EXIT_FAILURE;
}
// --------- Now read the value back from buffer ------
rc = raw1394_arm_get_buf(handle, arm_start_addr, arm_read_size, arm_read_buffer);
if (rc) {
std::cerr << "**** Error: failed to read arm register, error " << strerror(errno) << std::endl;
return EXIT_FAILURE;
} else {
// if success then print value
std::cout << "ARM buffer read value: \n";
for (size_t i = 0; i < arm_read_size; i++) {
std::cout << std::hex << " " << (int)arm_read_buffer[i];
}
std::cout << std::endl;
}
// --------- Infinite raw1394 event loop ----------
std::cout << "--------- Now start arm server -----------" << std::endl;
std::cout << " node id = " << raw1394_get_local_id(handle) << std::endl;
while (true)
{
raw1394_loop_iterate(handle);
}
// clean up & exit
raw1394_destroy_handle(handle);
return EXIT_SUCCESS;
}
/*****************************************************************************
* ScanCameras
*****************************************************************************/
static void ScanCameras( dc1394_sys *sys, demux_t *p_demux )
{
struct raw1394_portinfo portinfo[MAX_IEEE1394_HOSTS];
raw1394handle_t tempFd;
dc1394_camerainfo info;
dc_camera *node_list = NULL;
nodeid_t *nodes = NULL;
int num_ports = 0;
int num_cameras = 0;
int nodecount;
int i, n;
memset( &portinfo, 0, sizeof(portinfo) );
msg_Dbg( p_demux, "Scanning for ieee1394 ports ..." );
tempFd = raw1394_new_handle();
if( !tempFd )
return VLC_EGENERIC;
raw1394_get_port_info( tempFd, portinfo, MAX_IEEE1394_HOSTS);
raw1394_destroy_handle( tempFd );
for( i=0; i < MAX_IEEE1394_HOSTS; i++ )
{
/* check if port exists and has at least one node*/
if( !portinfo[i].nodes )
continue;
nodes = NULL;
nodecount = 0;
tempFd = dc1394_create_handle( i );
/* skip this port if we can't obtain a valid handle */
if( !tempFd )
continue;
msg_Dbg( p_demux, "Found ieee1394 port %d (%s) ... "
"checking for camera nodes",
i, portinfo[i].name );
num_ports++;
nodes = dc1394_get_camera_nodes( tempFd, &nodecount, 0 );
if( nodecount )
{
msg_Dbg( p_demux, "Found %d dc1394 cameras on port %d (%s)",
nodecount, i, portinfo[i].name );
if( node_list )
node_list = realloc( node_list, sizeof(dc_camera) * (num_cameras+nodecount) );
else
node_list = malloc( sizeof(dc_camera) * nodecount);
for( n = 0; n < nodecount; n++ )
{
int result = 0;
result = dc1394_get_camera_info( tempFd, nodes[n], &info );
if( result == DC1394_SUCCESS )
{
node_list[num_cameras+n].uid = info.euid_64;
}
node_list[num_cameras+n].node = nodes[n];
node_list[num_cameras+n].port = i;
}
num_cameras += nodecount;
}
else
msg_Dbg( p_demux, "no cameras found on port %d (%s)",
i, portinfo[i].name );
if( tempFd )
dc1394_destroy_handle( tempFd );
}
sys->num_ports = num_ports;
sys->num_cameras = num_cameras;
sys->camera_nodes = node_list;
}
bool firewire_source::try_open()
{
auto_raw1394 handle(raw1394_new_handle());
if (!handle.get())
return false;
raw1394_set_userdata(handle.get(), this);
int n_ports = raw1394_get_port_info(handle.get(), NULL, 0);
std::vector<raw1394_portinfo> ports(n_ports);
if (n_ports > 0)
{
int n_ports_again =
raw1394_get_port_info(handle.get(), &ports[0], n_ports);
if (n_ports > n_ports_again)
{
n_ports = n_ports_again;
ports.resize(n_ports);
}
}
if (n_ports == 0)
{
fprintf(stderr, "ERROR: No Firewire ports accessible\n");
return false;
}
// Try converting name to an integer
char * end;
int i = strtoul(port_name_.c_str(), &end, 10);
// If we didn't convert the whole string, assume it really is a name
if (*end)
for (i = 0; i != n_ports; ++i)
if (port_name_ == ports[i].name)
break;
if (i >= n_ports)
{
fprintf(stderr, "ERROR: %s: not found\n", port_name_.c_str());
return false;
}
if (verbose)
printf("INFO: Reading from Firewire port %s\n", ports[i].name);
if (raw1394_set_port(handle.get(), i))
{
perror("raw1394_set_port");
return false;
}
if (raw1394_iso_recv_init(handle.get(), raw_receive, /*buf_packets=*/ 600,
/*max_packet_size=*/
CIF_HEADER_SIZE + CIF_PACKET_SIZE + 8,
/*channel=*/ 63,
/*mode=*/ RAW1394_DMA_DEFAULT,
/*irq_interval=*/ 100))
{
perror("raw1394_iso_recv_init");
return false;
}
if (raw1394_iso_recv_start(handle.get(), -1, -1, -1))
{
perror("raw1394_iso_recv_start");
raw1394_iso_shutdown(handle.get()); // see comment on destructor
return false;
}
handle_ = handle;
return true;
}
int
main(int argc, char *argv[])
{
XGCValues xgcv;
long background = 0x010203;
unsigned int channel;
unsigned int speed;
int i, p, cn;
raw1394handle_t raw_handle;
struct raw1394_portinfo ports[MAX_PORTS];
get_options(argc, argv);
/* process options */
switch (fps) {
case 1:
fps = FRAMERATE_1_875;
break;
case 3:
fps = FRAMERATE_3_75;
break;
case 15:
fps = FRAMERATE_15;
break;
case 30:
fps = FRAMERATE_30;
break;
case 60:
fps = FRAMERATE_60;
break;
default:
fps = FRAMERATE_7_5;
break;
}
switch (res) {
case 1:
res = MODE_640x480_YUV411;
device_width = 640;
device_height = 480;
format = XV_YUY2;
break;
case 2:
res = MODE_640x480_RGB;
device_width = 640;
device_height = 480;
format = XV_YUY2;
break;
default:
res = MODE_320x240_YUV422;
device_width = 320;
device_height = 240;
format = XV_UYVY;
break;
}
/* get the number of ports (cards) */
raw_handle = raw1394_new_handle();
if (raw_handle == NULL) {
perror("Unable to aquire a raw1394 handle\n");
perror("did you load the drivers?\n");
exit(-1);
}
numPorts = raw1394_get_port_info(raw_handle, ports, numPorts);
raw1394_destroy_handle(raw_handle);
if (verbose) printf("number of ports = %d\n", numPorts);
/* get dc1394 handle to each port */
for (p = 0; p < numPorts; p++) {
int camCount;
handles[p] = dc1394_create_handle(p);
if (handles[p] == NULL) {
perror("Unable to aquire a raw1394 handle\n");
perror("did you load the drivers?\n");
cleanup();
exit(-1);
}
/* get the camera nodes and describe them as we find them */
camera_nodes = dc1394_get_camera_nodes(handles[p], &camCount, verbose);
/* setup cameras for capture */
for (i = 0; i < camCount; i++) {
cameras[numCameras].node = camera_nodes[i];
if (dc1394_get_camera_feature_set
(handles[p], cameras[numCameras].node,
&features) != DC1394_SUCCESS) {
printf("unable to get feature set\n");
} else if (verbose) {
dc1394_print_feature_set(&features);
}
if (dc1394_get_iso_channel_and_speed
(handles[p], cameras[numCameras].node, &channel,
&speed) != DC1394_SUCCESS) {
printf("unable to get the iso channel number\n");
cleanup();
exit(-1);
}
if (dc1394_dma_setup_capture
(handles[p], cameras[numCameras].node, i + 1 /*channel */ ,
FORMAT_VGA_NONCOMPRESSED, res, SPEED_400, fps, NUM_BUFFERS,
DROP_FRAMES, device_name,
&cameras[numCameras]) != DC1394_SUCCESS) {
fprintf(stderr,
"unable to setup camera - check line %d of %s to make sure\n",
__LINE__, __FILE__);
perror("that the video mode, framerate and format are supported\n");
printf("by your camera(s)\n");
cleanup();
exit(-1);
}
/*have the camera start sending us data */
if (dc1394_start_iso_transmission
(handles[p], cameras[numCameras].node) != DC1394_SUCCESS) {
perror("unable to start camera iso transmission\n");
cleanup();
exit(-1);
}
numCameras++;
}
}
fflush(stdout);
if (numCameras < 1) {
perror("no cameras found :(\n");
cleanup();
exit(-1);
}
//set_manual_exposure_gain(0, 440, 30);
switch (format) {
case XV_YV12:
set_frame_length(device_width * device_height * 3 / 2, numCameras);
break;
case XV_YUY2:
case XV_UYVY:
set_frame_length(device_width * device_height * 2, numCameras);
break;
default:
fprintf(stderr, "Unknown format set (internal error)\n");
exit(255);
}
/* create OpenCV image wrappers */
for (cn = 0; cn < MAX_CAMERAS; cn++) {
if (cn < numCameras) {
iplImages[cn] =
cvCreateImage(cvSize(device_width, device_height),
IPL_DEPTH_8U, 3);
readOnlyImg =
cvCreateImageHeader(cvSize(device_width, device_height),
IPL_DEPTH_8U, 3);
} else {
iplImages[cn] = NULL;
}
}
/* initialize handvu */
hvInitialize(device_width, device_height);
hvLoadConductor(string(conductor_fname));
hvStartRecognition();
hvSetOverlayLevel(3);
if (async_processing) {
hvAsyncSetup(num_async_bufs, displayCallback);
hvAsyncGetImageBuffer(&m_async_image, &m_async_bufID);
if (sync_display) async_display_image = cvCloneImage(iplImages[0]);
}
/* make the window */
display = XOpenDisplay(getenv("DISPLAY"));
if (display == NULL) {
fprintf(stderr, "Could not open display \"%s\"\n", getenv("DISPLAY"));
cleanup();
exit(-1);
}
QueryXv();
if (adaptor < 0) {
cleanup();
exit(-1);
}
width = device_width;
height = device_height * numCameras;
window =
XCreateSimpleWindow(display, DefaultRootWindow(display), 0, 0,
width, height, 0, WhitePixel(display,
DefaultScreen
(display)), background);
XSelectInput(display, window, StructureNotifyMask | KeyPressMask);
XMapWindow(display, window);
connection = ConnectionNumber(display);
gc = XCreateGC(display, window, 0, &xgcv);
/* local main event loop */
while (1) {
if (async_processing) {
// asynchronous processing in HandVu
capture_frame();
process_frame();
if (sync_display) display_frame();
handle_events();
} else {
// synchronous processing in HandVu
capture_frame();
process_frame();
display_frame();
handle_events();
}
/* XPending */
} /* while not interrupted */
exit(0);
}
