IplImage *image_input::capture_uvc_camera() {
#ifdef ENABLE_CAMERA
struct vdIn *videoIn;
char *videodevice = (char*)"/dev/video0";
int format = V4L2_PIX_FMT_YUYV;
int grabmethod = 1;
IplImage* frame;
videoIn = (struct vdIn *) calloc (1, sizeof (struct vdIn));
if (init_videoIn(videoIn, videodevice, camera.width, camera.height, format, grabmethod) < 0) {
puts("init failed");
exit (1);
}
//Reset all camera controls
v4l2ResetControl (videoIn, V4L2_CID_BRIGHTNESS);
v4l2ResetControl (videoIn, V4L2_CID_CONTRAST);
v4l2ResetControl (videoIn, V4L2_CID_SATURATION);
v4l2ResetControl (videoIn, V4L2_CID_GAIN);
//Setup Camera Parameters
v4l2SetControl (videoIn, V4L2_CID_BRIGHTNESS, camera.brightness);
v4l2SetControl (videoIn, V4L2_CID_CONTRAST, camera.contrast);
v4l2SetControl (videoIn, V4L2_CID_SATURATION, camera.saturation);
v4l2SetControl (videoIn, V4L2_CID_GAIN, camera.gain);
if (uvcGrab (videoIn) < 0) {
fprintf(stderr, "Error grabbing\n");
close_v4l2(videoIn);
free(videoIn);
exit(1);
}
// IplImage
frame = cvCreateImage(cvSize(videoIn->width, videoIn->height), IPL_DEPTH_8U, 3);
// convert image format
convert_yuyv_to_rgb(videoIn->framebuffer, (unsigned char*)frame->imageData,
videoIn->width, videoIn->height);
close_v4l2 (videoIn);
free (videoIn);
return frame;
#else // ENABLE_CAMERA
return NULL;
#endif // ENABLE_CAMERA
}
static int eventThread(void *data)
{
struct pt_data *gdata = (struct pt_data *) data;
struct v4l2_control control;
SDL_Surface *pscreen = *gdata->ptscreen;
struct vdIn *videoIn = gdata->ptvideoIn;
SDL_Event *sdlevent = gdata->ptsdlevent;
SDL_Rect *drect = gdata->drect;
SDL_mutex *affmutex = gdata->affmutex;
unsigned char frmrate;
int x, y;
int mouseon = 0;
int value = 0;
int len = 0;
short incpantilt = INCPANTILT;
int boucle = 0;
action_gui curr_action = A_VIDEO;
while (videoIn->signalquit)
{
SDL_LockMutex(affmutex);
frmrate = gdata->frmrate;
while (SDL_PollEvent(sdlevent))
{ //scan the event queue
switch (sdlevent->type) {
case SDL_KEYUP:
case SDL_MOUSEBUTTONUP:
mouseon = 0;
incpantilt = INCPANTILT;
boucle = 0;
break;
case SDL_MOUSEBUTTONDOWN:
mouseon = 1;
case SDL_MOUSEMOTION:
SDL_GetMouseState(&x, &y);
curr_action = GUI_whichbutton(x, y, pscreen, videoIn);
break;
case SDL_VIDEORESIZE:
pscreen =
SDL_SetVideoMode(sdlevent->resize.w,
sdlevent->resize.h, 0,
SDL_VIDEO_Flags);
drect->w = sdlevent->resize.w;
drect->h = sdlevent->resize.h;
break;
case SDL_KEYDOWN:
curr_action = GUI_keytoaction(sdlevent->key.keysym.sym);
if (curr_action != A_VIDEO)
mouseon = 1;
break;
case SDL_QUIT:
printf("\nStop asked\n");
videoIn->signalquit = 0;
break;
}
} //end if poll
SDL_UnlockMutex(affmutex);
/* traiter les actions */
value = 0;
if (mouseon){
boucle++;
switch (curr_action) {
case A_BRIGHTNESS_UP:
if ((value =
v4l2UpControl(videoIn, V4L2_CID_BRIGHTNESS)) < 0)
printf("Set Brightness up error\n");
break;
case A_CONTRAST_UP:
if ((value =
v4l2UpControl(videoIn, V4L2_CID_CONTRAST)) < 0)
printf("Set Contrast up error \n");
break;
case A_SATURATION_UP:
if ((value =
v4l2UpControl(videoIn, V4L2_CID_SATURATION)) < 0)
printf("Set Saturation up error\n");
break;
case A_GAIN_UP:
if ((value = v4l2UpControl(videoIn, V4L2_CID_GAIN)) < 0)
printf("Set Gain up error\n");
break;
case A_SHARPNESS_UP:
if ((value =
v4l2UpControl(videoIn, V4L2_CID_SHARPNESS)) < 0)
printf("Set Sharpness up error\n");
break;
case A_GAMMA_UP:
if ((value = v4l2UpControl(videoIn, V4L2_CID_GAMMA)) < 0)
printf("Set Gamma up error\n");
break;
case A_PAN_UP:
if ((value =v4L2UpDownPan(videoIn, -incpantilt)) < 0)
printf("Set Pan up error\n");
break;
case A_TILT_UP:
if ((value =v4L2UpDownTilt(videoIn, -incpantilt)) < 0)
printf("Set Tilt up error\n");
break;
case A_PAN_RESET:
if (v4l2ResetPanTilt(videoIn,1) < 0)
printf("reset pantilt error\n");
break;
case A_SCREENSHOT:
SDL_Delay(200);
videoIn->getPict = 1;
value = 1;
break;
case A_RESET:
if (v4l2ResetControl(videoIn, V4L2_CID_BRIGHTNESS) < 0)
printf("reset Brightness error\n");
if (v4l2ResetControl(videoIn, V4L2_CID_SATURATION) < 0)
printf("reset Saturation error\n");
if (v4l2ResetControl(videoIn, V4L2_CID_CONTRAST) < 0)
printf("reset Contrast error\n");
if (v4l2ResetControl(videoIn, V4L2_CID_HUE) < 0)
printf("reset Hue error\n");
if (v4l2ResetControl(videoIn, V4L2_CID_SHARPNESS) < 0)
printf("reset Sharpness error\n");
if (v4l2ResetControl(videoIn, V4L2_CID_GAMMA) < 0)
printf("reset Gamma error\n");
if (v4l2ResetControl(videoIn, V4L2_CID_GAIN) < 0)
printf("reset Gain error\n");
if (v4l2ResetPanTilt(videoIn,3) < 0)
printf("reset pantilt error\n");
break;
case A_BRIGHTNESS_DOWN:
if ((value = v4l2DownControl(videoIn, V4L2_CID_BRIGHTNESS)) < 0)
printf("Set Brightness down error\n");
break;
case A_CONTRAST_DOWN:
if ((value = v4l2DownControl(videoIn, V4L2_CID_CONTRAST)) < 0)
printf("Set Contrast down error\n");
break;
case A_SATURATION_DOWN:
if ((value = v4l2DownControl(videoIn, V4L2_CID_SATURATION)) < 0)
printf("Set Saturation down error\n");
break;
case A_GAIN_DOWN:
if ((value = v4l2DownControl(videoIn, V4L2_CID_GAIN)) < 0)
printf("Set Gain down error\n");
break;
case A_SHARPNESS_DOWN:
if ((value = v4l2DownControl(videoIn, V4L2_CID_SHARPNESS)) < 0)
printf("Set Sharpness down error\n");
break;
case A_GAMMA_DOWN:
if ((value = v4l2DownControl(videoIn, V4L2_CID_GAMMA)) < 0)
printf("Set Gamma down error\n");
break;
case A_PAN_DOWN:
if ((value =v4L2UpDownPan(videoIn, incpantilt)) < 0)
printf("Set Pan down error\n");
break;
case A_TILT_DOWN:
if ((value =v4L2UpDownTilt(videoIn,incpantilt)) < 0)
printf("Set Tilt down error\n");
break;
case A_TILT_RESET:
if (v4l2ResetPanTilt(videoIn,2) < 0)
printf("reset pantilt error\n");
break;
case A_RECORD_TOGGLE:
SDL_Delay(200);
videoIn->toggleAvi = !videoIn->toggleAvi;
value = videoIn->toggleAvi;
if ( value == 1 ) {
printf("avi recording started\n");
videoIn->recordstart=SDL_GetTicks();
}
else {
int dur=SDL_GetTicks()-videoIn->recordstart;
printf("\navi recording stopped (%ds)\n",dur/1000);
videoIn->recordtime+=dur;
}
break;
case A_SWITCH_LIGHTFREQFILT:
if ((value =v4l2GetControl(videoIn,V4L2_CID_POWER_LINE_FREQUENCY)) < 0)
printf("Get value of light frequency filter error\n");
if(value < 2) // round switch 50->60->NoFliker->.
value++; // \_______________;
else
value=0;
if(value == 0)
printf("Current light frequency filter: 50Hz\n");
else if(value == 1)
printf("Current light frequency filter: 60Hz\n");
else if(value == 2)
printf("Current light frequency filter: NoFliker\n");
if ((value =v4l2SetLightFrequencyFilter(videoIn,value)) < 0)
printf("Switch light frequency filter error\n");
break;
case A_QUIT:
videoIn->signalquit = 0;
break;
case A_VIDEO:
break;
case A_CAPTURE_FRAME:
value = 1;
videoIn->rawFrameCapture = 1;
break;
case A_CAPTURE_FRAMESTREAM:
value = 1;
if (!videoIn->rawFrameCapture) {
videoIn->rawFrameCapture = 2;
videoIn->rfsBytesWritten = 0;
videoIn->rfsFramesWritten = 0;
printf("Starting raw frame stream capturing ...\n");
} else if(videoIn->framesWritten >= 5) {
videoIn->rawFrameCapture = 0;
printf("Stopped raw frame stream capturing. %u bytes written for %u frames.\n",
videoIn->rfsBytesWritten, videoIn->rfsFramesWritten);
}
break;
case A_CAPTURE_STREAM:
value = 1;
if (videoIn->captureFile == NULL) {
videoIn->captureFile = fopen("stream.raw", "wb");
if(videoIn->captureFile == NULL) {
perror("Unable to open file for raw stream capturing");
} else {
printf("Starting raw stream capturing to stream.raw ...\n");
}
videoIn->bytesWritten = 0;
videoIn->framesWritten = 0;
} else if(videoIn->framesWritten >= 5) {
fclose(videoIn->captureFile);
printf("Stopped raw stream capturing to stream.raw. %u bytes written for %u frames.\n",
videoIn->bytesWritten, videoIn->framesWritten);
videoIn->captureFile = NULL;
}
break;
case A_EXPOSURE_UP:
if ((value = v4l2UpControl(videoIn, V4L2_CID_EXPOSURE_ABSOLUTE)) < 0)
printf("Set Absolute Exposure up error\n");
break;
case A_EXPOSURE_DOWN:
if ((value = v4l2DownControl(videoIn, V4L2_CID_EXPOSURE_ABSOLUTE)) < 0)
printf("Set Absolute Exposure down error\n");
break;
case A_EXPOSURE_ON:
control.id =V4L2_CID_EXPOSURE_AUTO;
control.value =1;
if ((value = ioctl(videoIn->fd, VIDIOC_S_CTRL, &control)) < 0)
printf("Set Auto Exposure on error\n");
else
printf("Auto Exposure set to %d \n", control.value);
break;
case A_EXPOSURE_OFF:
control.id =V4L2_CID_EXPOSURE_AUTO;
control.value =8;
if ((value = ioctl(videoIn->fd, VIDIOC_S_CTRL, &control)) < 0)
printf("Set Auto Exposure off error\n");
else
printf("Auto Exposure set to %d \n", control.value);
break;
case A_BALANCE_UP:
if ((value = v4l2UpControl(videoIn, V4L2_CID_WHITE_BALANCE_TEMPERATURE)) < 0)
printf("Set Balance Temperature up error\n");
break;
case A_BALANCE_DOWN:
if ((value = v4l2DownControl(videoIn, V4L2_CID_WHITE_BALANCE_TEMPERATURE)) < 0)
printf("Set Balance Temperature down error\n");
break;
case A_BALANCE_ON:
control.id =V4L2_CID_WHITE_BALANCE_TEMPERATURE_AUTO;
control.value =1;
if ((value = ioctl(videoIn->fd, VIDIOC_S_CTRL, &control)) < 0)
printf("Set Auto Balance on error\n");
else
printf("Auto Balance set to %d \n", control.value);
break;
case A_BALANCE_OFF:
control.id =V4L2_CID_WHITE_BALANCE_TEMPERATURE_AUTO;
control.value =0;
if ((value = ioctl(videoIn->fd, VIDIOC_S_CTRL, &control)) < 0)
printf("Set Auto Balance off error\n");
else
printf("Auto Balance set to %d \n", control.value);
break;
case A_SAVE:
printf("Save controls \n");
save_controls(videoIn->fd);
break;
case A_LOAD:
printf("load controls \n");
load_controls(videoIn->fd);
break;
default:
break;
}
if(!(boucle%10)) // smooth pan tilt method
if(incpantilt < (10*INCPANTILT))
incpantilt += (INCPANTILT/4);
if(value){
len = strlen(title_act[curr_action].title)+8;
snprintf(videoIn->status, len,"%s %06d",title_act[curr_action].title,value);
}
} else { // mouseon
len = strlen(title_act[curr_action].title)+9;
snprintf(videoIn->status, len,"%s, %02d Fps",title_act[curr_action].title, frmrate);
}
SDL_Delay(50);
//printf("fp/s %d \n",frmrate);
} //end main loop
/* Close the stream capture file */
if (videoIn->captureFile) {
fclose(videoIn->captureFile);
printf("Stopped raw stream capturing to stream.raw. %u bytes written for %u frames.\n",
videoIn->bytesWritten, videoIn->framesWritten);
}
/* Display stats for raw frame stream capturing */
if (videoIn->rawFrameCapture == 2) {
printf("Stopped raw frame stream capturing. %u bytes written for %u frames.\n",
videoIn->rfsBytesWritten, videoIn->rfsFramesWritten);
}
}
int main (int argc, char *argv[])
{
char *videodevice = "/dev/video0";
char *outputfile = "snap.jpg";
char *post_capture_command[3];
int format = V4L2_PIX_FMT_MJPEG;
int grabmethod = 1;
int width = 320;
int height = 240;
int brightness = 0, contrast = 0, saturation = 0, gain = 0;
int verbose = 0;
int delay = 0;
int quality = 95;
int post_capture_command_wait = 0;
time_t ref_time;
struct vdIn *videoIn;
FILE *file;
(void) signal (SIGINT, sigcatch);
(void) signal (SIGQUIT, sigcatch);
(void) signal (SIGKILL, sigcatch);
(void) signal (SIGTERM, sigcatch);
(void) signal (SIGABRT, sigcatch);
(void) signal (SIGTRAP, sigcatch);
// set post_capture_command to default values
post_capture_command[0] = NULL;
post_capture_command[1] = NULL;
post_capture_command[2] = NULL;
//Options Parsing (FIXME)
while ((argc > 1) && (argv[1][0] == '-')) {
switch (argv[1][1]) {
case 'v':
verbose++;
break;
case 'o':
outputfile = &argv[1][2];
break;
case 'd':
videodevice = &argv[1][2];
break;
case 'x':
width = atoi (&argv[1][2]);
break;
case 'y':
height = atoi (&argv[1][2]);
break;
case 'r':
grabmethod = 0;
break;
case 'm':
format = V4L2_PIX_FMT_YUYV;
break;
case 't':
delay = atoi (&argv[1][2]);
break;
case 'c':
post_capture_command[0] = &argv[1][2];
break;
case 'w':
post_capture_command_wait = 1;
break;
case 'B':
brightness = atoi (&argv[1][2]);
break;
case 'C':
contrast = atoi (&argv[1][2]);
break;
case 'S':
saturation = atoi (&argv[1][2]);
break;
case 'G':
gain = atoi (&argv[1][2]);
break;
case 'q':
quality = atoi (&argv[1][2]);
break;
case 'h':
usage ();
break;
default:
fprintf (stderr, "Unknown option %s \n", argv[1]);
usage ();
}
++argv;
--argc;
}
if ((width > 960) || (height > 720) || (quality != 95))
format = V4L2_PIX_FMT_YUYV;
if (post_capture_command[0])
post_capture_command[1] = outputfile;
if (verbose >= 1) {
fprintf (stderr, "Using videodevice: %s\n", videodevice);
fprintf (stderr, "Saving images to: %s\n", outputfile);
fprintf (stderr, "Image size: %dx%d\n", width, height);
fprintf (stderr, "Taking snapshot every %d seconds\n", delay);
if (grabmethod == 1)
fprintf (stderr, "Taking images using mmap\n");
else
fprintf (stderr, "Taking images using read\n");
if (post_capture_command[0])
fprintf (stderr, "Executing '%s' after each image capture\n",
post_capture_command[0]);
}
videoIn = (struct vdIn *) calloc (1, sizeof (struct vdIn));
if (init_videoIn
(videoIn, (char *) videodevice, width, height, format, grabmethod) < 0)
exit (1);
//Reset all camera controls
if (verbose >= 1)
fprintf (stderr, "Resetting camera settings\n");
v4l2ResetControl (videoIn, V4L2_CID_BRIGHTNESS);
v4l2ResetControl (videoIn, V4L2_CID_CONTRAST);
v4l2ResetControl (videoIn, V4L2_CID_SATURATION);
v4l2ResetControl (videoIn, V4L2_CID_GAIN);
//Setup Camera Parameters
if (brightness != 0) {
if (verbose >= 1)
fprintf (stderr, "Setting camera brightness to %d\n", brightness);
v4l2SetControl (videoIn, V4L2_CID_BRIGHTNESS, brightness);
} else if (verbose >= 1) {
fprintf (stderr, "Camera brightness level is %d\n",
v4l2GetControl (videoIn, V4L2_CID_BRIGHTNESS));
}
if (contrast != 0) {
if (verbose >= 1)
fprintf (stderr, "Setting camera contrast to %d\n", contrast);
v4l2SetControl (videoIn, V4L2_CID_CONTRAST, contrast);
} else if (verbose >= 1) {
fprintf (stderr, "Camera contrast level is %d\n",
v4l2GetControl (videoIn, V4L2_CID_CONTRAST));
}
if (saturation != 0) {
if (verbose >= 1)
fprintf (stderr, "Setting camera saturation to %d\n", saturation);
v4l2SetControl (videoIn, V4L2_CID_SATURATION, saturation);
} else if (verbose >= 1) {
fprintf (stderr, "Camera saturation level is %d\n",
v4l2GetControl (videoIn, V4L2_CID_SATURATION));
}
if (gain != 0) {
if (verbose >= 1)
fprintf (stderr, "Setting camera gain to %d\n", gain);
v4l2SetControl (videoIn, V4L2_CID_GAIN, gain);
} else if (verbose >= 1) {
fprintf (stderr, "Camera gain level is %d\n",
v4l2GetControl (videoIn, V4L2_CID_GAIN));
}
ref_time = time (NULL);
while (run) {
if (verbose >= 2)
fprintf (stderr, "Grabbing frame\n");
if (uvcGrab (videoIn) < 0) {
fprintf (stderr, "Error grabbing\n");
close_v4l2 (videoIn);
free (videoIn);
exit (1);
}
if ((difftime (time (NULL), ref_time) > delay) || delay == 0) {
if (verbose >= 1)
fprintf (stderr, "Saving image to: %s\n", outputfile);
file = fopen (outputfile, "wb");
if (file != NULL) {
switch (videoIn->formatIn) {
case V4L2_PIX_FMT_YUYV:
compress_yuyv_to_jpeg (videoIn, file, quality);
break;
default:
fwrite (videoIn->tmpbuffer, videoIn->buf.bytesused + DHT_SIZE, 1,
file);
break;
}
fclose (file);
videoIn->getPict = 0;
}
if (post_capture_command[0]) {
if (verbose >= 1)
fprintf (stderr, "Executing '%s %s'\n", post_capture_command[0],
post_capture_command[1]);
if (spawn (post_capture_command, post_capture_command_wait, verbose)) {
fprintf (stderr, "Command exited with error\n");
close_v4l2 (videoIn);
free (videoIn);
exit (1);
}
}
ref_time = time (NULL);
}
if (delay == 0)
break;
}
close_v4l2 (videoIn);
free (videoIn);
return 0;
}
void startVideoSrvr()
{
pthread_t videoSocketThread;
/* alloc mameory for the videoIn struct & initialize */
videoIn = (struct vdIn *) calloc (1, sizeof (struct vdIn));
if (init_videoIn
(videoIn, (char *) videodevice, width, height, format, grabmethod) < 0)
exit (1);
/* alloc memory for the control struct & video out array & initialize */
ctrlStruct ctrl, *pc;
if ((ctrl.imgArray = malloc(3 * width * height)) < 0) // enough space for rgb
exit(-1);
ctrl.doCapture = 0;
//Reset all camera controls
if (verbose >= 1)
fprintf (stderr, "Resetting camera settings\n");
v4l2ResetControl (videoIn, V4L2_CID_BRIGHTNESS);
v4l2ResetControl (videoIn, V4L2_CID_CONTRAST);
v4l2ResetControl (videoIn, V4L2_CID_SATURATION);
v4l2ResetControl (videoIn, V4L2_CID_GAIN);
//Setup Camera Parameters
if (brightness != 0) {
if (verbose >= 1)
fprintf (stderr, "Setting camera brightness to %d\n", brightness);
v4l2SetControl (videoIn, V4L2_CID_BRIGHTNESS, brightness);
} else if (verbose >= 1) {
fprintf (stderr, "Camera brightness level is %d\n",
v4l2GetControl (videoIn, V4L2_CID_BRIGHTNESS));
}
if (contrast != 0) {
if (verbose >= 1)
fprintf (stderr, "Setting camera contrast to %d\n", contrast);
v4l2SetControl (videoIn, V4L2_CID_CONTRAST, contrast);
} else if (verbose >= 1) {
fprintf (stderr, "Camera contrast level is %d\n",
v4l2GetControl (videoIn, V4L2_CID_CONTRAST));
}
if (saturation != 0) {
if (verbose >= 1)
fprintf (stderr, "Setting camera saturation to %d\n", saturation);
v4l2SetControl (videoIn, V4L2_CID_SATURATION, saturation);
} else if (verbose >= 1) {
fprintf (stderr, "Camera saturation level is %d\n",
v4l2GetControl (videoIn, V4L2_CID_SATURATION));
}
if (gain != 0) {
if (verbose >= 1)
fprintf (stderr, "Setting camera gain to %d\n", gain);
v4l2SetControl (videoIn, V4L2_CID_GAIN, gain);
} else if (verbose >= 1) {
fprintf (stderr, "Camera gain level is %d\n",
v4l2GetControl (videoIn, V4L2_CID_GAIN));
}
// wait for a video client to connect before proceeding
fprintf (stderr, "waiting for video client connection on port %d\n", port);
if ((ctrl.videoSocket = wait4client(port)) <= 0) {
fprintf (stderr, "error connecting to client: %d\n", ctrl.videoSocket);
exit(-1);
}
// start the thread that handles the video client requests
pthread_create(&videoSocketThread, NULL, (void *)cmdHandler, (void *)&ctrl);
while (run) {
if (verbose >= 2)
fprintf (stderr, ".");
if (uvcGrab (videoIn) < 0) {
fprintf (stderr, "Error grabbing\n");
close_v4l2 (videoIn);
free (videoIn);
exit (1);
}
if (ctrl.doCapture == 1) {
if (verbose >= 1) {
fprintf (stderr, "captured %d byte image at 0x%x %dx%d\n", videoIn->framesizeIn,
videoIn->framebuffer, videoIn->width, videoIn->height);
} else {
fprintf (stderr, ".");
}
if (outputType == 0)
yuyv2Y(videoIn, &ctrl);
else
yuyv2rgb(videoIn, &ctrl);
if (verbose >=1)
fprintf (stderr, "converted image to luminance in buffer at 0x%x\n", ctrl.imgArray);
videoIn->getPict = 0;
ctrl.doCapture = 0;
}
}
close_v4l2 (videoIn);
free (videoIn);
return;
}
/******************************************************************************
Description.: process commands, allows to set certain runtime configurations
and settings like pan/tilt, colors, saturation etc.
Input Value.: * cmd specifies the command, a complete list is maintained in
the file "input.h"
* value is used for commands that make use of a parameter.
Return Value: depends in the command, for most cases 0 means no errors and
-1 signals an error. This is just rule of thumb, not more!
******************************************************************************/
int input_cmd(in_cmd_type cmd, int value) {
int res=0;
static int pan=0, tilt=0, pan_tilt_valid=-1;
static int focus=-1;
const int one_degree = ONE_DEGREE;
/* certain commands do not need the mutex */
if ( cmd != IN_CMD_RESET_PAN_TILT_NO_MUTEX )
pthread_mutex_lock( &controls_mutex );
switch (cmd) {
case IN_CMD_HELLO:
fprintf(stderr, "Hello from input plugin\n");
break;
case IN_CMD_RESET:
DBG("about to reset all image controls to defaults\n");
res = v4l2ResetControl(videoIn, V4L2_CID_BRIGHTNESS);
res |= v4l2ResetControl(videoIn, V4L2_CID_CONTRAST);
res |= v4l2ResetControl(videoIn, V4L2_CID_SATURATION);
res |= v4l2ResetControl(videoIn, V4L2_CID_GAIN);
if ( res != 0 ) res = -1;
break;
case IN_CMD_RESET_PAN_TILT:
case IN_CMD_RESET_PAN_TILT_NO_MUTEX:
DBG("about to set pan/tilt to default position\n");
if ( uvcPanTilt(videoIn->fd, 0, 0, 3) != 0 ) {
res = -1;
break;
}
pan_tilt_valid = 1;
pan = tilt = 0;
sleep(4);
break;
case IN_CMD_PAN_SET:
DBG("set pan to %d degrees\n", value);
/* in order to calculate absolute positions we must check for initialized values */
if ( pan_tilt_valid != 1 ) {
if ( input_cmd(IN_CMD_RESET_PAN_TILT_NO_MUTEX, 0) == -1 ) {
res = -1;
break;
}
}
/* limit pan-value to min and max, multiply it with constant "one_degree" */
value = MIN(MAX(value*one_degree, MIN_PAN), MAX_PAN);
/* calculate the relative degrees to move to the desired absolute pan-value */
if( (res = value - pan) == 0 ) {
/* do not move if this would mean to move by 0 degrees */
res = pan/one_degree;
break;
}
/* move it */
pan = value;
uvcPanTilt(videoIn->fd, res, 0, 0);
res = pan/one_degree;
DBG("pan: %d\n", pan);
break;
case IN_CMD_PAN_PLUS:
DBG("pan +\n");
if ( pan_tilt_valid != 1 ) {
if ( input_cmd(IN_CMD_RESET_PAN_TILT_NO_MUTEX, 0) == -1 ) {
res = -1;
break;
}
}
if ( (MAX_PAN) >= (pan+MIN_RES) ) {
pan += MIN_RES;
uvcPanTilt(videoIn->fd, MIN_RES, 0, 0);
}
res = pan/one_degree;
DBG("pan: %d\n", pan);
break;
case IN_CMD_PAN_MINUS:
DBG("pan -\n");
if ( pan_tilt_valid != 1 ) {
if ( input_cmd(IN_CMD_RESET_PAN_TILT_NO_MUTEX, 0) == -1 ) {
res = -1;
break;
}
}
if ( (MIN_PAN) <= (pan-MIN_RES) ) {
pan -= MIN_RES;
uvcPanTilt(videoIn->fd, -MIN_RES, 0, 0);
}
res = pan/one_degree;
DBG("pan: %d\n", pan);
break;
case IN_CMD_TILT_SET:
DBG("set tilt to %d degrees\n", value);
if ( pan_tilt_valid != 1 ) {
if ( input_cmd(IN_CMD_RESET_PAN_TILT_NO_MUTEX, 0) == -1 ) {
res = -1;
break;
}
}
/* limit pan-value to min and max, multiply it with constant "one_degree" */
value = MIN(MAX(value*one_degree, MIN_TILT), MAX_TILT);
/* calculate the relative degrees to move to the desired absolute pan-value */
if( (res = value - tilt) == 0 ) {
/* do not move if this would mean to move by 0 degrees */
res = tilt/one_degree;
break;
}
/* move it */
tilt = value;
uvcPanTilt(videoIn->fd, 0, res, 0);
res = tilt/one_degree;
DBG("tilt: %d\n", tilt);
break;
case IN_CMD_TILT_PLUS:
DBG("tilt +\n");
if ( pan_tilt_valid != 1 ) {
if ( input_cmd(IN_CMD_RESET_PAN_TILT_NO_MUTEX, 0) == -1 ) {
res = -1;
break;
}
}
if ( (MAX_TILT) >= (tilt+MIN_RES) ) {
tilt += MIN_RES;
uvcPanTilt(videoIn->fd, 0, MIN_RES, 0);
}
res = tilt/one_degree;
DBG("tilt: %d\n", tilt);
break;
case IN_CMD_TILT_MINUS:
DBG("tilt -\n");
if ( pan_tilt_valid != 1 ) {
if ( input_cmd(IN_CMD_RESET_PAN_TILT_NO_MUTEX, 0) == -1 ) {
res = -1;
break;
}
}
if ( (MIN_TILT) <= (tilt-MIN_RES) ) {
tilt -= MIN_RES;
uvcPanTilt(videoIn->fd, 0, -MIN_RES, 0);
}
res = tilt/one_degree;
DBG("tilt: %d\n", tilt);
break;
case IN_CMD_SATURATION_PLUS:
DBG("saturation + (%d)\n", v4l2GetControl (videoIn, V4L2_CID_SATURATION));
res = v4l2UpControl(videoIn, V4L2_CID_SATURATION);
break;
case IN_CMD_SATURATION_MINUS:
DBG("saturation - (%d)\n", v4l2GetControl (videoIn, V4L2_CID_SATURATION));
res = v4l2DownControl(videoIn, V4L2_CID_SATURATION);
break;
case IN_CMD_CONTRAST_PLUS:
DBG("contrast + (%d)\n", v4l2GetControl (videoIn, V4L2_CID_CONTRAST));
res = v4l2UpControl(videoIn, V4L2_CID_CONTRAST);
break;
case IN_CMD_CONTRAST_MINUS:
DBG("contrast - (%d)\n", v4l2GetControl (videoIn, V4L2_CID_CONTRAST));
res = v4l2DownControl(videoIn, V4L2_CID_CONTRAST);
break;
case IN_CMD_BRIGHTNESS_PLUS:
DBG("brightness + (%d)\n", v4l2GetControl (videoIn, V4L2_CID_BRIGHTNESS));
res = v4l2UpControl(videoIn, V4L2_CID_BRIGHTNESS);
break;
case IN_CMD_BRIGHTNESS_MINUS:
DBG("brightness - (%d)\n", v4l2GetControl (videoIn, V4L2_CID_BRIGHTNESS));
res = v4l2DownControl(videoIn, V4L2_CID_BRIGHTNESS);
break;
case IN_CMD_GAIN_PLUS:
DBG("gain + (%d)\n", v4l2GetControl (videoIn, V4L2_CID_GAIN));
res = v4l2UpControl(videoIn, V4L2_CID_GAIN);
break;
case IN_CMD_GAIN_MINUS:
DBG("gain - (%d)\n", v4l2GetControl (videoIn, V4L2_CID_GAIN));
res = v4l2DownControl(videoIn, V4L2_CID_GAIN);
break;
case IN_CMD_FOCUS_PLUS:
DBG("focus + (%d)\n", focus);
value=MIN(MAX(focus+10,0),255);
if ( (res = v4l2SetControl(videoIn, V4L2_CID_FOCUS_LOGITECH, value)) == 0) {
focus = value;
}
res = focus;
break;
case IN_CMD_FOCUS_MINUS:
DBG("focus - (%d)\n", focus);
value=MIN(MAX(focus-10,0),255);
if ( (res = v4l2SetControl(videoIn, V4L2_CID_FOCUS_LOGITECH, value)) == 0) {
focus = value;
}
res = focus;
break;
case IN_CMD_FOCUS_SET:
value=MIN(MAX(value,0),255);
DBG("set focus to %d\n", value);
if ( (res = v4l2SetControl(videoIn, V4L2_CID_FOCUS_LOGITECH, value)) == 0) {
focus = value;
}
res = focus;
break;
/* switch the webcam LED permanently on */
case IN_CMD_LED_ON:
res = v4l2SetControl(videoIn, V4L2_CID_LED1_MODE_LOGITECH, 1);
break;
/* switch the webcam LED permanently off */
case IN_CMD_LED_OFF:
res = v4l2SetControl(videoIn, V4L2_CID_LED1_MODE_LOGITECH, 0);
break;
/* switch the webcam LED on if streaming, off if not streaming */
case IN_CMD_LED_AUTO:
res = v4l2SetControl(videoIn, V4L2_CID_LED1_MODE_LOGITECH, 3);
break;
/* let the webcam LED blink at a given hardcoded intervall */
case IN_CMD_LED_BLINK:
res = v4l2SetControl(videoIn, V4L2_CID_LED1_MODE_LOGITECH, 2);
res = v4l2SetControl(videoIn, V4L2_CID_LED1_FREQUENCY_LOGITECH, 255);
break;
default:
DBG("nothing matched\n");
res = -1;
}
if ( cmd != IN_CMD_RESET_PAN_TILT_NO_MUTEX )
pthread_mutex_unlock( &controls_mutex );
return res;
}