bool v4l2::qbuf_mmap(int index, __u32 buftype)
{
v4l2_buffer buf;
memset(&buf, 0, sizeof(buf));
buf.type = buftype;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = index;
return qbuf(buf);
}
bool v4l2::qbuf_user_out(void *ptr, int length)
{
v4l2_buffer buf;
memset(&buf, 0, sizeof(buf));
buf.type = V4L2_BUF_TYPE_VIDEO_OUTPUT;
buf.memory = V4L2_MEMORY_USERPTR;
buf.m.userptr = (unsigned long)ptr;
buf.length = length;
return qbuf(buf);
}
bool v4l2::qbuf_mmap_out(int index, int bytesused)
{
v4l2_buffer buf;
memset(&buf, 0, sizeof(buf));
buf.type = V4L2_BUF_TYPE_VIDEO_OUTPUT;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = index;
buf.bytesused = bytesused;
return qbuf(buf);
}
bool v4l2::qbuf_user(int index, __u32 buftype, void *ptr, int length)
{
v4l2_buffer buf;
memset(&buf, 0, sizeof(buf));
buf.type = buftype;
buf.memory = V4L2_MEMORY_USERPTR;
buf.m.userptr = (unsigned long)ptr;
buf.length = length;
buf.index = index;
return qbuf(buf);
}
bool v4l2::qbuf_mmap(int index, __u32 buftype)
{
v4l2_plane planes[VIDEO_MAX_PLANES];
v4l2_buffer buf;
memset(&buf, 0, sizeof(buf));
buf.type = buftype;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = index;
buf.length = 2;
buf.m.planes = planes;
return qbuf(buf);
}
int V4L2VideoNode::putFrame(unsigned int index)
{
LOG2("@%s", __FUNCTION__);
int ret(0);
if (index > mBufferPool.size()) {
ALOGE("%s Invalid index %d pool size %d", __FUNCTION__, index, mBufferPool.size());
return -1;
}
struct v4l2_buffer_info vbuf = mBufferPool.editItemAt(index);
ret = qbuf(&vbuf);
return ret;
}
int V4L2VideoNode::putFrame(unsigned int index)
{
LOG2("@%s", __FUNCTION__);
int ret(0);
if (index > mBufferPool.size()) {
LOGE("%s Invalid index %d pool size %d", __FUNCTION__, index, mBufferPool.size());
return -1;
}
struct v4l2_buffer_info vbuf = mBufferPool.editItemAt(index);
LOG2("userptr = %p, reserved2=0x%x", (void*)vbuf.vbuffer.m.userptr, vbuf.vbuffer.reserved2);
ret = qbuf(&vbuf);
return ret;
}
int V4L2VideoNode::activateBufferPool()
{
LOG1("@%s: device = %s", __FUNCTION__, mName.string());
int ret = 0;
if (mState != DEVICE_POPULATED)
return -1;
for (size_t i = 0; i < mBufferPool.size(); i++) {
ret = qbuf(&mBufferPool.editItemAt(i));
if (ret < 0) {
ALOGE("Failed to queue buffer %d", i);
break;
}
}
return ret;
}
bool v4l2::qbuf_user(int index, __u32 buftype, void *ptr[], size_t length[])
{
v4l2_plane planes[VIDEO_MAX_PLANES];
v4l2_buffer buf;
memset(&buf, 0, sizeof(buf));
buf.type = buftype;
buf.memory = V4L2_MEMORY_USERPTR;
if (V4L2_TYPE_IS_MULTIPLANAR(buftype)) {
buf.length = 2;
buf.m.planes = planes;
planes[0].length = length[0];
planes[0].m.userptr = (unsigned long)ptr[0];
planes[1].length = length[1];
planes[1].m.userptr = (unsigned long)ptr[1];
} else {
buf.m.userptr = (unsigned long)ptr[0];
buf.length = length[0];
}
buf.index = index;
return qbuf(buf);
}
// Reads a server message from the socket. The protocol consists of
// two parts. First the message length is read as unsigned
// integer, after that the actual message as 8 bit character string.
void GpsClient::readServerMsg()
{
static const char* method = "GpsClient::readServerMsg():";
uint msgLen = 0;
uint done = clientData.readMsg( &msgLen, sizeof(msgLen) );
if( done < sizeof(msgLen) )
{
qWarning() << method << "MSG length" << done << "too short";
setShutdownFlag(true);
return; // Error occurred
}
if( msgLen > 512 )
{
// such messages length are not defined. we will ignore that.
qWarning() << method
<< "message" << msgLen << "too large, ignoring it!";
setShutdownFlag(true);
return; // Error occurred
}
char *buf = new char[msgLen+1];
memset( buf, 0, msgLen+1 );
done = clientData.readMsg( buf, msgLen );
if( done <= 0 )
{
qWarning() << method << "MSG data" << done << "too short";
delete [] buf;
setShutdownFlag(true);
return; // Error occurred
}
#ifdef DEBUG
qDebug() << method << "Received Message:" << buf;
#endif
// Split the received message into its two parts. Space is used as separator
// between the command word and the optional content of the message.
QString qbuf( buf );
delete[] buf;
buf = 0;
int spaceIdx = qbuf.indexOf( QChar(' ') );
QStringList args;
if( spaceIdx == -1 || qbuf.size() == spaceIdx )
{
args.append(qbuf);
args.append("");
}
else
{
args.append(qbuf.left(spaceIdx));
args.append(qbuf.mid(spaceIdx+1));
}
// look, what the server is requesting
if( MSG_MAGIC == args[0] )
{
// check protocol versions, reply with pos or neg
if( MSG_PROTOCOL != args[1] )
{
qCritical() << method
<< "Client-Server protocol mismatch!"
<< "Client:" << MSG_PROTOCOL
<< "Server:" << args[1];
writeServerMsg( MSG_NEG );
setShutdownFlag(true);
return;
}
writeServerMsg( MSG_POS );
}
else if( MSG_OPEN == args[0] )
{
QStringList devArgs = args[1].split(QChar(' '));
if( devArgs.size() == 2 )
{
// Initialization of GPS device is requested. The message
// consists of two parts separated by spaces.
// 1) device name
// 2) io speed
bool res = openGps( devArgs[0].toLatin1().data(), devArgs[1].toUInt() );
if( res )
{
writeServerMsg( MSG_POS );
}
else
{
writeServerMsg( MSG_NEG );
}
}
}
else if( MSG_CLOSE == args[0] )
{
// Close GPS device is requested
closeGps();
writeServerMsg( MSG_POS );
}
else if( MSG_FGPS_ON == args[0] )
{
// Switches on GPS data forwarding to the server.
forwardGpsData = true;
writeServerMsg( MSG_POS );
}
else if( MSG_FGPS_OFF == args[0] )
{
// Switches off GPS data forwarding to the server.
forwardGpsData = false;
writeServerMsg( MSG_POS );
}
else if( MSG_SM == args[0] && args.count() == 2 )
{
// Sent message to the GPS device
int res = writeGpsData( args[1].toLatin1().data() );
if( res == -1 )
{
writeServerMsg( MSG_NEG );
}
else
{
writeServerMsg( MSG_POS );
}
}
else if( MSG_GPS_KEYS == args[0] && args.count() == 2 )
{
// Well known GPS message keys are received.
QStringList keys = args[1].split( ",", QString::SkipEmptyParts );
// Clear old content.
gpsMessageFilter.clear();
for( int i = 0; i < keys.size(); i++ )
{
gpsMessageFilter.insert( keys.at(i) );
}
// qDebug() << "GPS-Keys:" << gpsMessageFilter;
writeServerMsg( MSG_POS );
}
else if( MSG_SHD == args[0] )
{
// Shutdown is requested by the server. This message will not be
// acknowledged!
setShutdownFlag(true);
}
#ifdef FLARM
else if( MSG_FLARM_FLIGHT_LIST_REQ == args[0] )
{
// Flarm flight list is requested
writeServerMsg( MSG_POS );
getFlarmFlightList();
}
else if( MSG_FLARM_FLIGHT_DOWNLOAD == args[0] && args.count() == 2 )
{
// Flarm flight download is requested
writeServerMsg( MSG_POS );
getFlarmIgcFiles(args[1]);
}
else if( MSG_FLARM_RESET == args[0] )
{
// Flarm reset is requested
writeServerMsg( MSG_POS );
flarmReset();
}
#endif
else
{
qWarning() << method << "Unknown message received:" << qbuf;
writeServerMsg( MSG_NEG );
}
return;
}
void Videostreaming::capFrame()
{
__u32 buftype = m_buftype;
v4l2_plane planes[VIDEO_MAX_PLANES];
v4l2_buffer buf;
unsigned char *tempSrcBuffer = NULL, *tempDestBuffer = NULL, *copyDestBuffer = NULL;
unsigned char *tempCu130DestBuffer = NULL, *tempCu130SrcBuffer = NULL;
unsigned char *tempCu40DestBuffer = NULL, *irBuffer = NULL;
unsigned char *tempLogtechSrcBuffer = NULL, *tempLogtechDestBuffer = NULL;
unsigned char *displaybuf = NULL;
unsigned short int *tempCu40SrcBuffer = NULL;
//Modified by Nithyesh
//Previously it was int err = 0, x, y;
int err = 0;
__u32 x, y;
bool again, v4l2convert = false;
memset(planes, 0, sizeof(planes));
buf.length = VIDEO_MAX_PLANES;
buf.m.planes = planes;
if (!dqbuf_mmap(buf, buftype, again)) {
closeDevice();
unsigned char *m_data=NULL;
QImage tempImage(m_data,320,240,QImage::Format_RGB888);
qImage = QPixmap::fromImage(tempImage);
update();
emit deviceUnplugged("Disconnected","Device Not Found");
emit logCriticalHandle("Device disconnected");
return;
}
if (again) {
return;
}
if (buf.flags & V4L2_BUF_FLAG_ERROR) {
qbuf(buf);
return;
}
#if 0
switch(m_capSrcFormat.fmt.pix.pixelformat) {
case V4L2_PIX_FMT_YUYV: {
if((width*height*2) == buf.bytesused){
validFrame = true;
}
}
break;
case V4L2_PIX_FMT_SGRBG8:{
// if bayer - 8 bit camera
// {
if ((width*height) == buf.bytesused)
validFrame = true;
// }
// if bayer - 8 bit + pad camera
// {
if ((width*height*2) == buf.bytesused)
validFrame = true;
// }
}
break;
case V4L2_PIX_FMT_MJPEG:{
validFrame = true;
break;
}
default:
// To do: for other color spaces
break;
}
if (validFrame != true){
qbuf(buf);
qDebug()<<"validFrame != true";
// return;
}
#endif
if (camDeviceName == "e-con's CX3 RDK with M\nT9P031" || camDeviceName == "See3CAM_12CUNIR" || camDeviceName == "See3CAM_CU51")
{
tempSrcBuffer = (unsigned char *)malloc(width * height * 2);
tempDestBuffer = (unsigned char *)malloc(width * height << 1);
copyDestBuffer = tempDestBuffer;
memcpy(tempSrcBuffer, m_buffers[buf.index].start[0], buf.bytesused);
for(__u32 l=0; l<(width*height*2); l=l+2) /* Y16 to YUYV conversion */
{
*tempDestBuffer++ = (((tempSrcBuffer[l] & 0xF0) >> 4) | (tempSrcBuffer[l+1] & 0x0F) << 4);
*tempDestBuffer++ = 0x80;
}
m_capSrcFormat.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
err = v4lconvert_convert(m_convertData, &m_capSrcFormat, &m_capDestFormat,
(unsigned char *)copyDestBuffer, buf.bytesused,
m_capImage->bits(), m_capDestFormat.fmt.pix.sizeimage);
v4l2convert = true;
}else if (camDeviceName == "See3CAM_CU40") {