void set_frame_length(unsigned long size, int numCameras)
{
frame_length=size;
dc1394_log_debug("Setting frame size to %ld kb",size/1024);
frame_free=0;
frame_buffer = malloc( size * numCameras);
}
dc1394error_t
dc1394_juju_capture_setup(platform_camera_t *craw, uint32_t num_dma_buffers,
uint32_t flags)
{
struct fw_cdev_create_iso_context create;
struct fw_cdev_start_iso start_iso;
dc1394error_t err;
dc1394video_frame_t proto;
int i, j, retval;
dc1394camera_t * camera = craw->camera;
if (flags & DC1394_CAPTURE_FLAGS_DEFAULT)
flags = DC1394_CAPTURE_FLAGS_CHANNEL_ALLOC |
DC1394_CAPTURE_FLAGS_BANDWIDTH_ALLOC;
craw->flags = flags;
// if capture is already set, abort
if (craw->capture_is_set>0)
return DC1394_CAPTURE_IS_RUNNING;
// if auto iso is requested, stop ISO (if necessary)
if (flags & DC1394_CAPTURE_FLAGS_AUTO_ISO) {
dc1394switch_t is_iso_on;
dc1394_video_get_transmission(camera, &is_iso_on);
if (is_iso_on == DC1394_ON) {
err=dc1394_video_set_transmission(camera, DC1394_OFF);
DC1394_ERR_RTN(err,"Could not stop ISO!");
}
}
if (capture_basic_setup(camera, &proto) != DC1394_SUCCESS) {
dc1394_log_error("basic setup failed");
return DC1394_FAILURE;
}
if (flags & (DC1394_CAPTURE_FLAGS_CHANNEL_ALLOC |
DC1394_CAPTURE_FLAGS_BANDWIDTH_ALLOC)) {
uint64_t channels_allowed = 0;
unsigned int bandwidth_units = 0;
int channel;
if (flags & DC1394_CAPTURE_FLAGS_CHANNEL_ALLOC)
channels_allowed = 0xffff;
if (flags & DC1394_CAPTURE_FLAGS_BANDWIDTH_ALLOC)
dc1394_video_get_bandwidth_usage (camera, &bandwidth_units);
err = juju_iso_allocate (craw, channels_allowed,
bandwidth_units, &craw->capture_iso_resource);
if (err == DC1394_SUCCESS) {
channel = craw->capture_iso_resource->channel;
} else if (err == DC1394_FUNCTION_NOT_SUPPORTED) {
channel = craw->node_id & 0x3f;
dc1394_log_warning ("iso allocation not available in this kernel, "
"using channel %d...", channel);
} else {
dc1394_log_error ("juju: Failed to allocate iso resources");
return err;
}
if (dc1394_video_set_iso_channel (camera, channel) != DC1394_SUCCESS)
return DC1394_NO_ISO_CHANNEL;
}
if (dc1394_video_get_iso_channel (camera, &craw->iso_channel)
!= DC1394_SUCCESS)
return DC1394_FAILURE;
dc1394_log_debug ("juju: Receiving from iso channel %d", craw->iso_channel);
craw->iso_fd = open(craw->filename, O_RDWR);
if (craw->iso_fd < 0) {
dc1394_log_error("error opening file: %s", strerror (errno));
return DC1394_FAILURE;
}
create.type = FW_CDEV_ISO_CONTEXT_RECEIVE;
create.header_size = craw->header_size;
create.channel = craw->iso_channel;
create.speed = SCODE_400;
err = DC1394_IOCTL_FAILURE;
if (ioctl(craw->iso_fd, FW_CDEV_IOC_CREATE_ISO_CONTEXT, &create) < 0) {
dc1394_log_error("failed to create iso context");
goto error_fd;
}
craw->iso_handle = create.handle;
craw->num_frames = num_dma_buffers;
craw->current = -1;
craw->buffer_size = proto.total_bytes * num_dma_buffers;
craw->buffer =
mmap(NULL, craw->buffer_size, PROT_READ | PROT_WRITE , MAP_SHARED, craw->iso_fd, 0);
err = DC1394_IOCTL_FAILURE;
if (craw->buffer == MAP_FAILED)
goto error_fd;
err = DC1394_MEMORY_ALLOCATION_FAILURE;
craw->frames = malloc (num_dma_buffers * sizeof *craw->frames);
if (craw->frames == NULL)
goto error_mmap;
for (i = 0; i < num_dma_buffers; i++) {
err = init_frame(craw, i, &proto);
if (err != DC1394_SUCCESS) {
dc1394_log_error("error initing frames");
break;
}
}
if (err != DC1394_SUCCESS) {
for (j = 0; j < i; j++)
release_frame(craw, j);
goto error_mmap;
}
for (i = 0; i < num_dma_buffers; i++) {
err = queue_frame(craw, i);
if (err != DC1394_SUCCESS) {
dc1394_log_error("error queuing");
goto error_frames;
}
}
// starting from here we use the ISO channel so we set the flag in
// the camera struct:
craw->capture_is_set = 1;
start_iso.cycle = -1;
start_iso.tags = FW_CDEV_ISO_CONTEXT_MATCH_ALL_TAGS;
start_iso.sync = 1;
start_iso.handle = craw->iso_handle;
retval = ioctl(craw->iso_fd, FW_CDEV_IOC_START_ISO, &start_iso);
err = DC1394_IOCTL_FAILURE;
if (retval < 0) {
dc1394_log_error("error starting iso");
goto error_frames;
}
// if auto iso is requested, start ISO
if (flags & DC1394_CAPTURE_FLAGS_AUTO_ISO) {
err=dc1394_video_set_transmission(camera, DC1394_ON);
DC1394_ERR_RTN(err,"Could not start ISO!");
craw->iso_auto_started=1;
}
return DC1394_SUCCESS;
error_frames:
for (i = 0; i < num_dma_buffers; i++)
release_frame(craw, i);
error_mmap:
munmap(craw->buffer, craw->buffer_size);
error_fd:
close(craw->iso_fd);
return err;
}
dc1394error_t
platform_capture_stop(platform_camera_t *craw)
{
dc1394camera_t * camera = craw->camera;
int err;
if (craw->capture_is_set>0) {
// unlisten
if (ioctl(craw->capture.dma_fd, VIDEO1394_IOC_UNLISTEN_CHANNEL,
&(craw->iso_channel)) < 0)
return DC1394_IOCTL_FAILURE;
// release
if (craw->capture.dma_ring_buffer) {
munmap((void*)craw->capture.dma_ring_buffer,craw->capture.dma_buffer_size);
}
while (close(craw->capture.dma_fd) != 0) {
dc1394_log_debug("waiting for dma_fd to close");
sleep (1);
}
craw->capture.dma_fd = -1;
free (craw->capture.frames);
craw->capture.frames = NULL;
// this dma_device file is allocated by the strdup() function and can be freed here without problems.
free(craw->capture.dma_device_file);
craw->capture.dma_device_file=NULL;
// capture is not set anymore
craw->capture_is_set=0;
// free ressources if they were allocated
if (craw->allocated_channel >= 0) {
if (dc1394_iso_release_channel (camera, craw->allocated_channel)
!= DC1394_SUCCESS)
dc1394_log_warning("Warning: Could not free ISO channel");
}
if (craw->allocated_bandwidth) {
if (dc1394_iso_release_bandwidth (camera, craw->allocated_bandwidth)
!= DC1394_SUCCESS)
dc1394_log_warning("Warning: Could not free bandwidth");
}
craw->allocated_channel = -1;
craw->allocated_bandwidth = 0;
// stop ISO if it was started automatically
if (craw->iso_auto_started>0) {
err=dc1394_video_set_transmission(camera, DC1394_OFF);
DC1394_ERR_RTN(err,"Could not stop ISO!");
craw->iso_auto_started=0;
}
// free the additional capture handle
raw1394_destroy_handle(craw->capture.handle);
}
else {
return DC1394_CAPTURE_IS_NOT_SET;
}
return DC1394_SUCCESS;
}