~MmalStillCallbackData()
{
vcos_semaphore_delete(&complete_semaphore);
}
void ofxRaspicam::takePhoto()
{
ofFile myFile;
FILE *output_file = NULL;
vcos_sleep(photo.timeout);
// Open the file
string fileName = ofToDataPath("photos/"+ ofGetTimestampString()+".jpg", true);
char *toChar = const_cast<char*> ( fileName.c_str() );
photo.filename = toChar;
ofLogVerbose() << "Opening output file" << fileName;
output_file = fopen(photo.filename, "wb");
if (!output_file)
{
// Notify user, carry on but discarding encoded output buffers
ofLogVerbose() << "Error opening output file";
}
photo.add_exif_tags();
callback_data.file_handle = output_file;
// We only capture if a filename was specified and it opened
if (output_file)
{
// Send all the buffers to the encoder output port
int num = mmal_queue_length(photo.encoder_pool->queue);
int q;
for (q=0;q<num;q++)
{
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(photo.encoder_pool->queue);
if (!buffer)
{
ofLogVerbose() << "Unable to get a required buffer " << q << " from pool queue";
}
if (mmal_port_send_buffer(encoder_output_port, buffer)!= MMAL_SUCCESS)
{
ofLogVerbose() << "Unable to send a buffer to encoder output port " << q;
}
}
ofLogVerbose() << "Starting capture";
if (mmal_port_parameter_set_boolean(camera_still_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
{
ofLogVerbose() << "Failed to start capture";
}
else
{
// Wait for capture to complete
// For some reason using vcos_semaphore_wait_timeout sometimes returns immediately with bad parameter error
// even though it appears to be all correct, so reverting to untimed one until figure out why its erratic
vcos_semaphore_wait(&callback_data.complete_semaphore);
ofLogVerbose() << "Finished capture " << fileName;
lastImage.loadImage(callback_data.photo->filename);
}
// Ensure we don't die if get callback with no open file
callback_data.file_handle = NULL;
fclose(output_file);
}
vcos_semaphore_delete(&callback_data.complete_semaphore);
}
static int create_test()
{
int passed = 1;
VCOS_SEMAPHORE_T semas[MAX_TESTED];
GUARD_T guard;
int i;
for(i=0; i<MAX_TESTED; i++)
{
if(vcos_semaphore_create(semas+i, "sem", i) != VCOS_SUCCESS)
{
vcos_assert(0);
passed = 0;
}
}
for(i=0; i<MAX_TESTED; i+=2)
vcos_semaphore_delete(semas+i);
for(i=0; i<MAX_TESTED; i+=2)
if(vcos_semaphore_create(semas+i, "sem2", i) != VCOS_SUCCESS)
passed = 0;
if(passed)
{
if(guard_init(&guard) < 0)
passed = 0;
else
{
/* see if the values appear to be independent */
for(i=0; i<MAX_TESTED && passed; i++)
{
int j;
guard.wait[0] = 10;
guard.post[0] = 1;
guard.wait[1] = 10;
guard.post[1] = 100;
guard.guard = semas+i;
vcos_semaphore_post(&guard.go);
/* wait for one more than we set, the first wait by the guard
* should timeout, and it will post one more time. We should
* then wake up here, and set the event, so the second wait
* shouldn't timeout.
*/
for(j=0; j<i+1; j++)
vcos_semaphore_wait(semas+i);
vcos_event_flags_set(&guard.event, 1, VCOS_OR);
vcos_semaphore_wait(&guard.done);
if(!guard.timeout[0] || guard.timeout[1])
passed = 0;
}
guard_deinit(&guard, &passed);
}
for(i=0; i<MAX_TESTED; i++)
vcos_semaphore_delete(semas+i);
}
return passed;
}
int main(int argc, char **argv)
{
MMAL_STATUS_T status = MMAL_EINVAL;
MMAL_COMPONENT_T *decoder = 0;
MMAL_POOL_T *pool_in = 0, *pool_out = 0;
MMAL_BOOL_T eos_sent = MMAL_FALSE, eos_received = MMAL_FALSE;
unsigned int count;
if (argc < 2)
{
fprintf(stderr, "invalid arguments\n");
return -1;
}
vcos_semaphore_create(&context.semaphore, "example", 1);
SOURCE_OPEN(argv[1]);
/* Create the decoder component.
* This specific component exposes 2 ports (1 input and 1 output). Like most components
* its expects the format of its input port to be set by the client in order for it to
* know what kind of data it will be fed. */
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_DECODER, &decoder);
CHECK_STATUS(status, "failed to create decoder");
/* Enable control port so we can receive events from the component */
decoder->control->userdata = (void *)&context;
status = mmal_port_enable(decoder->control, control_callback);
CHECK_STATUS(status, "failed to enable control port");
/* Get statistics on the input port */
MMAL_PARAMETER_CORE_STATISTICS_T stats = {{0}};
stats.hdr.id = MMAL_PARAMETER_CORE_STATISTICS;
stats.hdr.size = sizeof(MMAL_PARAMETER_CORE_STATISTICS_T);
status = mmal_port_parameter_get(decoder->input[0], &stats.hdr);
CHECK_STATUS(status, "failed to get stats");
fprintf(stderr, "stats: %i, %i", stats.stats.buffer_count, stats.stats.max_delay);
/* Set the zero-copy parameter on the input port */
MMAL_PARAMETER_BOOLEAN_T zc = {{MMAL_PARAMETER_ZERO_COPY, sizeof(zc)}, MMAL_TRUE};
status = mmal_port_parameter_set(decoder->input[0], &zc.hdr);
fprintf(stderr, "status: %i\n", status);
/* Set the zero-copy parameter on the output port */
status = mmal_port_parameter_set_boolean(decoder->output[0], MMAL_PARAMETER_ZERO_COPY, MMAL_TRUE);
fprintf(stderr, "status: %i\n", status);
/* Set format of video decoder input port */
MMAL_ES_FORMAT_T *format_in = decoder->input[0]->format;
format_in->type = MMAL_ES_TYPE_VIDEO;
format_in->encoding = MMAL_ENCODING_H264;
format_in->es->video.width = 1280;
format_in->es->video.height = 720;
format_in->es->video.frame_rate.num = 30;
format_in->es->video.frame_rate.den = 1;
format_in->es->video.par.num = 1;
format_in->es->video.par.den = 1;
/* If the data is known to be framed then the following flag should be set:
* format_in->flags |= MMAL_ES_FORMAT_FLAG_FRAMED; */
SOURCE_READ_CODEC_CONFIG_DATA(codec_header_bytes, codec_header_bytes_size);
status = mmal_format_extradata_alloc(format_in, codec_header_bytes_size);
CHECK_STATUS(status, "failed to allocate extradata");
format_in->extradata_size = codec_header_bytes_size;
if (format_in->extradata_size)
memcpy(format_in->extradata, codec_header_bytes, format_in->extradata_size);
status = mmal_port_format_commit(decoder->input[0]);
CHECK_STATUS(status, "failed to commit format");
/* Our decoder can do internal colour conversion, ask for a conversion to RGB565 */
MMAL_ES_FORMAT_T *format_out = decoder->output[0]->format;
format_out->encoding = MMAL_ENCODING_RGB16;
status = mmal_port_format_commit(decoder->output[0]);
CHECK_STATUS(status, "failed to commit format");
/* Display the output port format */
fprintf(stderr, "%s\n", decoder->output[0]->name);
fprintf(stderr, " type: %i, fourcc: %4.4s\n", format_out->type, (char *)&format_out->encoding);
fprintf(stderr, " bitrate: %i, framed: %i\n", format_out->bitrate,
!!(format_out->flags & MMAL_ES_FORMAT_FLAG_FRAMED));
fprintf(stderr, " extra data: %i, %p\n", format_out->extradata_size, format_out->extradata);
fprintf(stderr, " width: %i, height: %i, (%i,%i,%i,%i)\n",
format_out->es->video.width, format_out->es->video.height,
format_out->es->video.crop.x, format_out->es->video.crop.y,
format_out->es->video.crop.width, format_out->es->video.crop.height);
/* The format of both ports is now set so we can get their buffer requirements and create
* our buffer headers. We use the buffer pool API to create these. */
decoder->input[0]->buffer_num = decoder->input[0]->buffer_num_min;
decoder->input[0]->buffer_size = decoder->input[0]->buffer_size_min;
decoder->output[0]->buffer_num = decoder->output[0]->buffer_num_min;
decoder->output[0]->buffer_size = decoder->output[0]->buffer_size_min;
pool_in = mmal_pool_create(decoder->input[0]->buffer_num,
decoder->input[0]->buffer_size);
pool_out = mmal_pool_create(decoder->output[0]->buffer_num,
decoder->output[0]->buffer_size);
/* Create a queue to store our decoded video frames. The callback we will get when
* a frame has been decoded will put the frame into this queue. */
context.queue = mmal_queue_create();
/* Store a reference to our context in each port (will be used during callbacks) */
decoder->input[0]->userdata = (void *)&context;
decoder->output[0]->userdata = (void *)&context;
/* Enable all the input port and the output port.
* The callback specified here is the function which will be called when the buffer header
* we sent to the component has been processed. */
status = mmal_port_enable(decoder->input[0], input_callback);
CHECK_STATUS(status, "failed to enable input port");
status = mmal_port_enable(decoder->output[0], output_callback);
CHECK_STATUS(status, "failed to enable output port");
/* Component won't start processing data until it is enabled. */
status = mmal_component_enable(decoder);
CHECK_STATUS(status, "failed to enable component");
/* Start decoding */
fprintf(stderr, "start decoding\n");
/* This is the main processing loop */
for (count = 0; !eos_received && count < 500; count++)
{
MMAL_BUFFER_HEADER_T *buffer;
/* Wait for buffer headers to be available on either of the decoder ports */
vcos_semaphore_wait(&context.semaphore);
/* Check for errors */
if (context.status != MMAL_SUCCESS)
break;
/* Send data to decode to the input port of the video decoder */
if (!eos_sent && (buffer = mmal_queue_get(pool_in->queue)) != NULL)
{
SOURCE_READ_DATA_INTO_BUFFER(buffer);
if(!buffer->length) eos_sent = MMAL_TRUE;
buffer->flags = buffer->length ? 0 : MMAL_BUFFER_HEADER_FLAG_EOS;
buffer->pts = buffer->dts = MMAL_TIME_UNKNOWN;
fprintf(stderr, "sending %i bytes\n", (int)buffer->length);
status = mmal_port_send_buffer(decoder->input[0], buffer);
CHECK_STATUS(status, "failed to send buffer");
}
/* Get our decoded frames */
while ((buffer = mmal_queue_get(context.queue)) != NULL)
{
/* We have a frame, do something with it (why not display it for instance?).
* Once we're done with it, we release it. It will automatically go back
* to its original pool so it can be reused for a new video frame.
*/
eos_received = buffer->flags & MMAL_BUFFER_HEADER_FLAG_EOS;
if (buffer->cmd)
fprintf(stderr, "received event %4.4s", (char *)&buffer->cmd);
else
fprintf(stderr, "decoded frame (flags %x)\n", buffer->flags);
mmal_buffer_header_release(buffer);
}
/* Send empty buffers to the output port of the decoder */
while ((buffer = mmal_queue_get(pool_out->queue)) != NULL)
{
status = mmal_port_send_buffer(decoder->output[0], buffer);
CHECK_STATUS(status, "failed to send buffer");
}
}
/* Stop decoding */
fprintf(stderr, "stop decoding\n");
/* Stop everything. Not strictly necessary since mmal_component_destroy()
* will do that anyway */
mmal_port_disable(decoder->input[0]);
mmal_port_disable(decoder->output[0]);
mmal_component_disable(decoder);
error:
/* Cleanup everything */
if (decoder)
mmal_component_destroy(decoder);
if (pool_in)
mmal_pool_destroy(pool_in);
if (pool_out)
mmal_pool_destroy(pool_out);
if (context.queue)
mmal_queue_destroy(context.queue);
SOURCE_CLOSE();
vcos_semaphore_delete(&context.semaphore);
return status == MMAL_SUCCESS ? 0 : -1;
}
/**
* main
*/
int main(int argc, const char **argv)
{
// Our main data storage vessel..
RASPISTILLYUV_STATE state;
int exit_code = EX_OK;
MMAL_STATUS_T status = MMAL_SUCCESS;
MMAL_PORT_T *camera_preview_port = NULL;
MMAL_PORT_T *camera_video_port = NULL;
MMAL_PORT_T *camera_still_port = NULL;
MMAL_PORT_T *preview_input_port = NULL;
FILE *output_file = NULL;
bcm_host_init();
// Register our application with the logging system
vcos_log_register("RaspiStill", VCOS_LOG_CATEGORY);
signal(SIGINT, signal_handler);
// Disable USR1 for the moment - may be reenabled if go in to signal capture mode
signal(SIGUSR1, SIG_IGN);
default_status(&state);
// Do we have any parameters
if (argc == 1)
{
fprintf(stderr, "\n%s Camera App %s\n\n", basename(argv[0]), VERSION_STRING);
display_valid_parameters(basename(argv[0]));
exit(EX_USAGE);
}
default_status(&state);
// Parse the command line and put options in to our status structure
if (parse_cmdline(argc, argv, &state))
{
status = -1;
exit(EX_USAGE);
}
if (state.verbose)
{
fprintf(stderr, "\n%s Camera App %s\n\n", basename(argv[0]), VERSION_STRING);
dump_status(&state);
}
// OK, we have a nice set of parameters. Now set up our components
// We have two components. Camera and Preview
// Camera is different in stills/video, but preview
// is the same so handed off to a separate module
if ((status = create_camera_component(&state)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create camera component", __func__);
exit_code = EX_SOFTWARE;
}
else if ((status = raspipreview_create(&state.preview_parameters)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create preview component", __func__);
destroy_camera_component(&state);
exit_code = EX_SOFTWARE;
}
else
{
PORT_USERDATA callback_data;
if (state.verbose)
fprintf(stderr, "Starting component connection stage\n");
camera_preview_port = state.camera_component->output[MMAL_CAMERA_PREVIEW_PORT];
camera_video_port = state.camera_component->output[MMAL_CAMERA_VIDEO_PORT];
camera_still_port = state.camera_component->output[MMAL_CAMERA_CAPTURE_PORT];
// Note we are lucky that the preview and null sink components use the same input port
// so we can simple do this without conditionals
preview_input_port = state.preview_parameters.preview_component->input[0];
// Connect camera to preview (which might be a null_sink if no preview required)
status = connect_ports(camera_preview_port, preview_input_port, &state.preview_connection);
if (status == MMAL_SUCCESS)
{
VCOS_STATUS_T vcos_status;
// Set up our userdata - this is passed though to the callback where we need the information.
// Null until we open our filename
callback_data.file_handle = NULL;
callback_data.pstate = &state;
vcos_status = vcos_semaphore_create(&callback_data.complete_semaphore, "RaspiStill-sem", 0);
vcos_assert(vcos_status == VCOS_SUCCESS);
camera_still_port->userdata = (struct MMAL_PORT_USERDATA_T *)&callback_data;
if (state.verbose)
fprintf(stderr, "Enabling camera still output port\n");
// Enable the camera still output port and tell it its callback function
status = mmal_port_enable(camera_still_port, camera_buffer_callback);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to setup camera output");
goto error;
}
if (state.verbose)
fprintf(stderr, "Starting video preview\n");
int frame, keep_looping = 1;
FILE *output_file = NULL;
char *use_filename = NULL; // Temporary filename while image being written
char *final_filename = NULL; // Name that file gets once writing complete
frame = 0;
while (keep_looping)
{
keep_looping = wait_for_next_frame(&state, &frame);
// Open the file
if (state.filename)
{
if (state.filename[0] == '-')
{
output_file = stdout;
// Ensure we don't upset the output stream with diagnostics/info
state.verbose = 0;
}
else
{
vcos_assert(use_filename == NULL && final_filename == NULL);
status = create_filenames(&final_filename, &use_filename, state.filename, frame);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to create filenames");
goto error;
}
if (state.verbose)
fprintf(stderr, "Opening output file %s\n", final_filename);
// Technically it is opening the temp~ filename which will be ranamed to the final filename
output_file = fopen(use_filename, "wb");
if (!output_file)
{
// Notify user, carry on but discarding encoded output buffers
vcos_log_error("%s: Error opening output file: %s\nNo output file will be generated\n", __func__, use_filename);
}
}
callback_data.file_handle = output_file;
}
if (output_file)
{
int num, q;
// There is a possibility that shutter needs to be set each loop.
if (mmal_status_to_int(mmal_port_parameter_set_uint32(state.camera_component->control, MMAL_PARAMETER_SHUTTER_SPEED, state.camera_parameters.shutter_speed) != MMAL_SUCCESS))
vcos_log_error("Unable to set shutter speed");
// Send all the buffers to the camera output port
num = mmal_queue_length(state.camera_pool->queue);
for (q=0;q<num;q++)
{
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(state.camera_pool->queue);
if (!buffer)
vcos_log_error("Unable to get a required buffer %d from pool queue", q);
if (mmal_port_send_buffer(camera_still_port, buffer)!= MMAL_SUCCESS)
vcos_log_error("Unable to send a buffer to camera output port (%d)", q);
}
if (state.burstCaptureMode && frame==1)
{
mmal_port_parameter_set_boolean(state.camera_component->control, MMAL_PARAMETER_CAMERA_BURST_CAPTURE, 1);
}
if (state.verbose)
fprintf(stderr, "Starting capture %d\n", frame);
if (mmal_port_parameter_set_boolean(camera_still_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to start capture", __func__);
}
else
{
// Wait for capture to complete
// For some reason using vcos_semaphore_wait_timeout sometimes returns immediately with bad parameter error
// even though it appears to be all correct, so reverting to untimed one until figure out why its erratic
vcos_semaphore_wait(&callback_data.complete_semaphore);
if (state.verbose)
fprintf(stderr, "Finished capture %d\n", frame);
}
// Ensure we don't die if get callback with no open file
callback_data.file_handle = NULL;
if (output_file != stdout)
{
rename_file(&state, output_file, final_filename, use_filename, frame);
}
}
if (use_filename)
{
free(use_filename);
use_filename = NULL;
}
if (final_filename)
{
free(final_filename);
final_filename = NULL;
}
} // end for (frame)
vcos_semaphore_delete(&callback_data.complete_semaphore);
}
else
{
mmal_status_to_int(status);
vcos_log_error("%s: Failed to connect camera to preview", __func__);
}
error:
mmal_status_to_int(status);
if (state.verbose)
fprintf(stderr, "Closing down\n");
if (output_file)
fclose(output_file);
// Disable all our ports that are not handled by connections
check_disable_port(camera_video_port);
if (state.preview_connection)
mmal_connection_destroy(state.preview_connection);
/* Disable components */
if (state.preview_parameters.preview_component)
mmal_component_disable(state.preview_parameters.preview_component);
if (state.camera_component)
mmal_component_disable(state.camera_component);
raspipreview_destroy(&state.preview_parameters);
destroy_camera_component(&state);
if (state.verbose)
fprintf(stderr, "Close down completed, all components disconnected, disabled and destroyed\n\n");
}
if (status != MMAL_SUCCESS)
raspicamcontrol_check_configuration(128);
return exit_code;
}
VCOS_STATUS_T vcos_thread_create(VCOS_THREAD_T *thread,
const char *name,
VCOS_THREAD_ATTR_T *attrs,
VCOS_THREAD_ENTRY_FN_T entry,
void *arg)
{
VCOS_STATUS_T st;
pthread_attr_t pt_attrs;
VCOS_THREAD_ATTR_T *local_attrs = attrs ? attrs : &default_attrs;
int rc;
vcos_assert(thread);
memset(thread, 0, sizeof(VCOS_THREAD_T));
rc = pthread_attr_init(&pt_attrs);
if (rc < 0)
return VCOS_ENOMEM;
st = vcos_semaphore_create(&thread->suspend, NULL, 0);
if (st != VCOS_SUCCESS)
{
pthread_attr_destroy(&pt_attrs);
return st;
}
pthread_attr_setstacksize(&pt_attrs, local_attrs->ta_stacksz);
#if VCOS_CAN_SET_STACK_ADDR
if (local_attrs->ta_stackaddr)
{
pthread_attr_setstackaddr(&pt_attrs, local_attrs->ta_stackaddr);
}
#else
vcos_demand(local_attrs->ta_stackaddr == 0);
#endif
/* pthread_attr_setpriority(&pt_attrs, local_attrs->ta_priority); */
vcos_assert(local_attrs->ta_stackaddr == 0); /* Not possible */
thread->entry = entry;
thread->arg = arg;
thread->legacy = local_attrs->legacy;
strncpy(thread->name, name, sizeof(thread->name));
thread->name[sizeof(thread->name)-1] = '\0';
memset(thread->at_exit, 0, sizeof(thread->at_exit));
rc = pthread_create(&thread->thread, &pt_attrs, vcos_thread_entry, thread);
pthread_attr_destroy(&pt_attrs);
if (rc < 0)
{
vcos_semaphore_delete(&thread->suspend);
return VCOS_ENOMEM;
}
else
{
return VCOS_SUCCESS;
}
}
void internelVideoWithDetails(char *filename, int width, int height, int duration) {
RASPISTILL_STATE state;
MMAL_STATUS_T status = MMAL_SUCCESS;
MMAL_PORT_T *camera_video_port = NULL;
MMAL_PORT_T *encoder_input_port = NULL;
MMAL_PORT_T *encoder_output_port = NULL;
FILE *output_file = NULL;
if (width > 1920) {
width = 1920;
} else if (width < 20) {
width = 20;
}
if (height > 1080) {
height = 1080;
} else if (height < 20) {
height = 20;
}
bcm_host_init();
default_status(&state);
state.width = width;
state.height = height;
state.quality = 0;
state.videoEncode = 1;
state.filename = filename;
if ((status = create_video_camera_component(&state)) != MMAL_SUCCESS) {
vcos_log_error("%s: Failed to create camera component", __func__);
} else if ((status = create_video_encoder_component(&state)) != MMAL_SUCCESS) {
vcos_log_error("%s: Failed to create encode component", __func__);
destroy_camera_component(&state);
} else {
PORT_USERDATA callback_data;
camera_video_port = state.camera_component->output[MMAL_CAMERA_VIDEO_PORT];
encoder_input_port = state.encoder_component->input[0];
encoder_output_port = state.encoder_component->output[0];
// Now connect the camera to the encoder
status = connect_ports(camera_video_port, encoder_input_port, &state.encoder_connection);
if (status != MMAL_SUCCESS) {
vcos_log_error("%s: Failed to connect camera video port to encoder input", __func__);
goto error;
}
// Set up our userdata - this is passed though to the callback where we need the information.
// Null until we open our filename
callback_data.pstate = &state;
if (status != MMAL_SUCCESS) {
vcos_log_error("Failed to setup encoder output");
goto error;
}
if (state.filename) {
output_file = fopen(state.filename, "wb");
callback_data.file_handle = output_file;
callback_data.pstate = &state;
callback_data.abort = 0;
}
encoder_output_port->userdata = (struct MMAL_PORT_USERDATA_T *)&callback_data;
int wait;
// Enable the encoder output port and tell it its callback function
status = mmal_port_enable(encoder_output_port, encoder_buffer_callback);
if (mmal_port_parameter_set_boolean(camera_video_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS) {
goto error;
}
// Send all the buffers to the encoder output port
{
int num = mmal_queue_length(state.encoder_pool->queue);
int q;
for (q=0;q<num;q++) {
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(state.encoder_pool->queue);
if (!buffer)
vcos_log_error("Unable to get a required buffer %d from pool queue", q);
if (mmal_port_send_buffer(encoder_output_port, buffer)!= MMAL_SUCCESS)
vcos_log_error("Unable to send a buffer to encoder output port (%d)", q);
}
}
for (wait = 0; wait < duration; wait+= ABORT_INTERVAL) {
vcos_sleep(ABORT_INTERVAL);
if (callback_data.abort)
break;
}
// Disable encoder output port
status = mmal_port_disable(encoder_output_port);
vcos_semaphore_delete(&callback_data.complete_semaphore);
}
error:
mmal_status_to_int(status);
// Disable all our ports that are not handled by connections
check_disable_port(encoder_output_port);
if (output_file && output_file != stdout)
fclose(output_file);
mmal_connection_destroy(state.encoder_connection);
if (state.encoder_component)
mmal_component_disable(state.encoder_component);
if (state.camera_component)
mmal_component_disable(state.camera_component);
destroy_encoder_component(&state);
destroy_camera_component(&state);
if (status != MMAL_SUCCESS)
raspicamcontrol_check_configuration(128);
}
uint8_t *internelPhotoWithDetails(int width, int height, int quality,MMAL_FOURCC_T encoding, PicamParams *parms, long *sizeread) {
RASPISTILL_STATE state;
MMAL_STATUS_T status = MMAL_SUCCESS;
MMAL_PORT_T *preview_input_port = NULL;
MMAL_PORT_T *camera_preview_port = NULL;
MMAL_PORT_T *camera_still_port = NULL;
MMAL_PORT_T *encoder_input_port = NULL;
MMAL_PORT_T *encoder_output_port = NULL;
if (width > 2592) {
width = 2592;
} else if (width < 20) {
width = 20;
}
if (height > 1944) {
height = 1944;
} else if (height < 20) {
height = 20;
}
if (quality > 100) {
quality = 100;
} else if (quality < 0) {
quality = 85;
}
bcm_host_init();
default_status(&state);
state.width = width;
state.height = height;
state.quality = quality;
state.encoding = encoding;
state.videoEncode = 0;
state.camera_parameters.exposureMode = parms->exposure;
state.camera_parameters.exposureMeterMode = parms->meterMode;
state.camera_parameters.awbMode = parms->awbMode;
state.camera_parameters.imageEffect = parms->imageFX;
state.camera_parameters.ISO = parms->ISO;
state.camera_parameters.sharpness = parms->sharpness;
state.camera_parameters.contrast = parms->contrast;
state.camera_parameters.brightness= parms->brightness;
state.camera_parameters.saturation = parms->saturation;
state.camera_parameters.videoStabilisation = parms->videoStabilisation; /// 0 or 1 (false or true)
state.camera_parameters.exposureCompensation = parms->exposureCompensation;
state.camera_parameters.rotation = parms->rotation;
state.camera_parameters.hflip = parms->hflip;
state.camera_parameters.vflip = parms->vflip;
MMAL_COMPONENT_T *preview = 0;
if ((status = create_video_camera_component(&state)) != MMAL_SUCCESS) {
vcos_log_error("%s: Failed to create camera component", __func__);
} else if ((status = mmal_component_create("vc.null_sink", &preview)) != MMAL_SUCCESS) {
vcos_log_error("%s: Failed to create preview component", __func__);
destroy_camera_component(&state);
} else if ((status = create_encoder_component(&state)) != MMAL_SUCCESS) {
vcos_log_error("%s: Failed to create encode component", __func__);
destroy_camera_component(&state);
} else {
status = mmal_component_enable(preview);
state.preview_component = preview;
PORT_USERDATA callback_data;
camera_preview_port = state.camera_component->output[MMAL_CAMERA_PREVIEW_PORT];
camera_still_port = state.camera_component->output[MMAL_CAMERA_CAPTURE_PORT];
encoder_input_port = state.encoder_component->input[0];
encoder_output_port = state.encoder_component->output[0];
preview_input_port = state.preview_component->input[0];
status = connect_ports(camera_preview_port, preview_input_port, &state.preview_connection);
VCOS_STATUS_T vcos_status;
// Now connect the camera to the encoder
status = connect_ports(camera_still_port, encoder_input_port, &state.encoder_connection);
if (status != MMAL_SUCCESS) {
vcos_log_error("%s: Failed to connect camera video port to encoder input", __func__);
goto error;
}
// Set up our userdata - this is passed though to the callback where we need the information.
// Null until we open our filename
callback_data.pstate = &state;
vcos_status = vcos_semaphore_create(&callback_data.complete_semaphore, "picam-sem", 0);
vcos_assert(vcos_status == VCOS_SUCCESS);
if (status != MMAL_SUCCESS) {
vcos_log_error("Failed to setup encoder output");
goto error;
}
int num, q;
// Enable the encoder output port
encoder_output_port->userdata = (struct MMAL_PORT_USERDATA_T *)&callback_data;
// Enable the encoder output port and tell it its callback function
status = mmal_port_enable(encoder_output_port, encoder_buffer_callback);
// Send all the buffers to the encoder output port
num = mmal_queue_length(state.encoder_pool->queue);
for (q=0;q<num;q++) {
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(state.encoder_pool->queue);
if (!buffer)
vcos_log_error("Unable to get a required buffer %d from pool queue", q);
if (mmal_port_send_buffer(encoder_output_port, buffer)!= MMAL_SUCCESS)
vcos_log_error("Unable to send a buffer to encoder output port (%d)", q);
}
if (mmal_port_parameter_set_boolean(camera_still_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS) {
vcos_log_error("%s: Failed to start capture", __func__);
} else {
// Wait for capture to complete
// For some reason using vcos_semaphore_wait_timeout sometimes returns immediately with bad parameter error
// even though it appears to be all correct, so reverting to untimed one until figure out why its erratic
vcos_semaphore_wait(&callback_data.complete_semaphore);
}
// Disable encoder output port
status = mmal_port_disable(encoder_output_port);
*sizeread = state.bytesStored;
vcos_semaphore_delete(&callback_data.complete_semaphore);
}
error:
mmal_status_to_int(status);
// Disable all our ports that are not handled by connections
check_disable_port(encoder_output_port);
mmal_connection_destroy(state.encoder_connection);
if (state.encoder_component)
mmal_component_disable(state.encoder_component);
if (state.preview_component) {
mmal_component_disable(state.preview_component);
mmal_component_destroy(state.preview_component);
state.preview_component = NULL;
}
if (state.camera_component)
mmal_component_disable(state.camera_component);
destroy_encoder_component(&state);
destroy_camera_component(&state);
if (status != MMAL_SUCCESS)
raspicamcontrol_check_configuration(128);
return state.filedata;
}
/**
* main
*/
int main(int argc, const char **argv)
{
// Our main data storage vessel..
RASPISTILL_STATE state;
MMAL_STATUS_T status = -1;
MMAL_PORT_T *camera_preview_port = NULL;
MMAL_PORT_T *camera_video_port = NULL;
MMAL_PORT_T *camera_still_port = NULL;
MMAL_PORT_T *preview_input_port = NULL;
MMAL_PORT_T *encoder_input_port = NULL;
MMAL_PORT_T *encoder_output_port = NULL;
bcm_host_init();
clock_t elapsedTime;
time_t timer_begin,timer_end;
double secondsElapsed;
time(&timer_begin); /* get current time; same as: timer = time(NULL) */
// create window
cvNamedWindow("camcvWin", CV_WINDOW_AUTOSIZE);//CV_WINDOW_NORMAL);//CV_WINDOW_AUTOSIZE);
//cvResizeWindow("camcvWin",640,480);
signal(SIGINT, signal_handler);
default_status(&state);
if (!create_camera_component(&state))
{
vcos_log_error("%s: Failed to create camera component", __func__);
}
else if ( (status = raspipreview_create(&state.preview_parameters)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create preview component", __func__);
destroy_camera_component(&state);
}
else if (!create_encoder_component(&state))
{
vcos_log_error("%s: Failed to create encode component", __func__);
raspipreview_destroy(&state.preview_parameters);
destroy_camera_component(&state);
}
else
{
PORT_USERDATA callback_data;
// *** PR : we don't want preview
camera_preview_port = NULL;//state.camera_component->output[MMAL_CAMERA_PREVIEW_PORT];
camera_video_port = state.camera_component->output[MMAL_CAMERA_VIDEO_PORT];
camera_still_port = state.camera_component->output[MMAL_CAMERA_CAPTURE_PORT];
preview_input_port = state.preview_parameters.preview_component->input[0];
encoder_input_port = state.encoder_component->input[0];
encoder_output_port = state.encoder_component->output[0];
if (state.preview_parameters.wantPreview )
{
// PR : we don't want preview
// Connect camera to preview
// status = connect_ports(camera_preview_port, preview_input_port, &state.preview_connection);
}
VCOS_STATUS_T vcos_status;
// Now connect the camera to the encoder
status = connect_ports(camera_still_port, encoder_input_port, &state.encoder_connection);
if (status != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to connect camera video port to encoder input", __func__);
goto error;
}
// Set up our userdata - this is passed though to the callback where we need the information.
// Null until we open our filename
//callback_data.file_handle = NULL;
callback_data.pstate = &state;
vcos_status = vcos_semaphore_create(&callback_data.complete_semaphore, "RaspiStill-sem", 0);
vcos_assert(vcos_status == VCOS_SUCCESS);
encoder_output_port->userdata = (struct MMAL_PORT_USERDATA_T *)&callback_data;
// Enable the encoder output port and tell it its callback function
status = mmal_port_enable(encoder_output_port, encoder_buffer_callback);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to setup encoder output");
goto error;
}
int num_iterations = 100;
int frame,num,q;
elapsedTime= clock();
printf("time=%d\n",elapsedTime);
for (frame = 1;frame<=num_iterations; frame++)
{
// Send all the buffers to the encoder output port
num = mmal_queue_length(state.encoder_pool->queue);
for (q=0;q<num;q++)
{
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(state.encoder_pool->queue);
//if (!buffer)
// vcos_log_error("Unable to get a required buffer %d from pool queue", q);
if (mmal_port_send_buffer(encoder_output_port, buffer)!= MMAL_SUCCESS)
vcos_log_error("Unable to send a buffer to encoder output port (%d)", q);
}
if (mmal_port_parameter_set_boolean(camera_still_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to start capture", __func__);
}
else
{
// Wait for capture to complete
// For some reason using vcos_semaphore_wait_timeout sometimes returns immediately with bad parameter error
// even though it appears to be all correct, so reverting to untimed one until figure out why its erratic
vcos_semaphore_wait(&callback_data.complete_semaphore);
}
} // end for (frame)
vcos_semaphore_delete(&callback_data.complete_semaphore);
// compute elapsed time since begin of the loop and display
error:
mmal_status_to_int(status);
// Disable all our ports that are not handled by connections
check_disable_port(camera_video_port);
check_disable_port(encoder_output_port);
// PR : we don't want preview
//if (state.preview_parameters.wantPreview )
// mmal_connection_destroy(state.preview_connection);
mmal_connection_destroy(state.encoder_connection);
/* Disable components */
if (state.encoder_component)
mmal_component_disable(state.encoder_component);
if (state.preview_parameters.preview_component)
mmal_component_disable(state.preview_parameters.preview_component);
if (state.camera_component)
mmal_component_disable(state.camera_component);
destroy_encoder_component(&state);
raspipreview_destroy(&state.preview_parameters);
destroy_camera_component(&state);
}
if (status != 0)
raspicamcontrol_check_configuration(128);
// compute FPS
time(&timer_end); /* get current time; same as: timer = time(NULL) */
secondsElapsed = difftime(timer_end,timer_begin);
printf ("%.f seconds for %d frames : FPS = %f", secondsElapsed,nbFrames,(float)((float)(nbFrames)/secondsElapsed));
printf("time=%d\n",clock());
elapsedTime=clock()-elapsedTime;
printf ("(time) %d clicks (%f seconds). nb Frames = %d. FPS = %f\n",elapsedTime,((float)elapsedTime)/CLOCKS_PER_SEC, nbFrames, (float)nbFrames/(((float)elapsedTime)/CLOCKS_PER_SEC));
return 0;
}
/** Allocate a port structure */
MMAL_PORT_T *mmal_port_alloc(MMAL_COMPONENT_T *component, MMAL_PORT_TYPE_T type, unsigned int extra_size)
{
MMAL_PORT_T *port;
MMAL_PORT_PRIVATE_CORE_T *core;
unsigned int name_size = strlen(component->name) + sizeof(PORT_NAME_FORMAT);
unsigned int size = sizeof(*port) + sizeof(MMAL_PORT_PRIVATE_T) +
sizeof(MMAL_PORT_PRIVATE_CORE_T) + name_size + extra_size;
MMAL_BOOL_T lock = 0, lock_send = 0, lock_transit = 0, sema_transit = 0;
MMAL_BOOL_T lock_stats = 0;
LOG_TRACE("component:%s type:%u extra:%u", component->name, type, extra_size);
port = vcos_calloc(1, size, "mmal port");
if (!port)
{
LOG_ERROR("failed to allocate port, size %u", size);
return 0;
}
port->type = type;
port->priv = (MMAL_PORT_PRIVATE_T *)(port+1);
port->priv->core = core = (MMAL_PORT_PRIVATE_CORE_T *)(port->priv+1);
if (extra_size)
port->priv->module = (struct MMAL_PORT_MODULE_T *)(port->priv->core+1);
port->component = component;
port->name = core->name = ((char *)(port->priv->core+1)) + extra_size;
core->name_size = name_size;
mmal_port_name_update(port);
port->priv->pf_connect = mmal_port_connect_default;
lock = vcos_mutex_create(&port->priv->core->lock, "mmal port lock") == VCOS_SUCCESS;
lock_send = vcos_mutex_create(&port->priv->core->send_lock, "mmal port send lock") == VCOS_SUCCESS;
lock_transit = vcos_mutex_create(&port->priv->core->transit_lock, "mmal port transit lock") == VCOS_SUCCESS;
sema_transit = vcos_semaphore_create(&port->priv->core->transit_sema, "mmal port transit sema", 1) == VCOS_SUCCESS;
lock_stats = vcos_mutex_create(&port->priv->core->stats_lock, "mmal stats lock") == VCOS_SUCCESS;
if (!lock || !lock_send || !lock_transit || !sema_transit || !lock_stats)
{
LOG_ERROR("%s: failed to create sync objects (%u,%u,%u,%u,%u)",
port->name, lock, lock_send, lock_transit, sema_transit, lock_stats);
goto error;
}
port->format = mmal_format_alloc();
if (!port->format)
{
LOG_ERROR("%s: failed to allocate format object", port->name);
goto error;
}
port->priv->core->format_ptr_copy = port->format;
LOG_TRACE("%s: created at %p", port->name, port);
return port;
error:
if (lock) vcos_mutex_delete(&port->priv->core->lock);
if (lock_send) vcos_mutex_delete(&port->priv->core->send_lock);
if (lock_transit) vcos_mutex_delete(&port->priv->core->transit_lock);
if (sema_transit) vcos_semaphore_delete(&port->priv->core->transit_sema);
if (lock_stats) vcos_mutex_delete(&port->priv->core->stats_lock);
if (port->format) mmal_format_free(port->format);
vcos_free(port);
return 0;
}
VCOS_STATUS_T vcos_thread_create(VCOS_THREAD_T *thread,
const char *name,
VCOS_THREAD_ATTR_T *attrs,
VCOS_THREAD_ENTRY_FN_T entry,
void *arg)
{
VCOS_STATUS_T st;
VCOS_THREAD_ATTR_T *local_attrs = attrs ? attrs : &default_attrs;
vcos_assert(thread);
memset(thread, 0, sizeof(VCOS_THREAD_T));
st = vcos_semaphore_create(&thread->suspend, NULL, 0);
if (st != VCOS_SUCCESS)
{
return st;
}
vcos_assert(local_attrs->ta_stackaddr == 0);
thread->entry = entry;
thread->arg = arg;
thread->legacy = local_attrs->legacy;
#ifdef WIN32_KERN
strncpy_s(thread->name, sizeof(thread->name), name, sizeof(thread->name));
#else
strncpy(thread->name, name, sizeof(thread->name));
#endif
thread->name[sizeof(thread->name) - 1] = '\0';
memset(thread->at_exit, 0, sizeof(thread->at_exit));
#ifdef WIN32_KERN
OBJECT_ATTRIBUTES objectAttributes;
InitializeObjectAttributes(
&objectAttributes,
NULL,
OBJ_KERNEL_HANDLE,
NULL,
NULL);
NTSTATUS status = PsCreateSystemThread(
&thread->thread,
THREAD_ALL_ACCESS,
&objectAttributes,
NULL,
NULL,
vcos_thread_entry,
thread);
if (!NT_SUCCESS(status))
{
vcos_semaphore_delete(&thread->suspend);
st = VCOS_ENOMEM;
}
#else
thread->thread = CreateThread(NULL, local_attrs->ta_stacksz, (LPTHREAD_START_ROUTINE)vcos_thread_entry, thread, 0, NULL);
if (thread->thread == NULL)
{
vcos_semaphore_delete(&thread->suspend);
st = VCOS_ENOMEM;
}
#endif
return st;
}
