static int config_output(AVFilterLink *outlink)
{
AVFilterContext *ctx = outlink->src;
int ret;
if (ctx->nb_inputs) {
AVFilterLink *inlink = ctx->inputs[0];
outlink->format = inlink->format;
outlink->sample_rate = inlink->sample_rate;
if (ctx->nb_inputs == ctx->nb_outputs) {
outlink->channel_layout = inlink->channel_layout;
outlink->channels = inlink->channels;
}
ret = 0;
} else {
LADSPAContext *s = ctx->priv;
outlink->sample_rate = s->sample_rate;
outlink->time_base = (AVRational){1, s->sample_rate};
ret = connect_ports(ctx, outlink);
}
return ret;
}
void ofxRaspicam::setup()
{
MMAL_STATUS_T status = MMAL_SUCCESS;
bcm_host_init();
create_camera_component();
create_encoder_component();
camera_still_port = photo.camera->output[MMAL_CAMERA_CAPTURE_PORT];
encoder_input_port = photo.encoder_component->input[0];
encoder_output_port = photo.encoder_component->output[0];
VCOS_STATUS_T vcos_status;
ofLogVerbose() << "Connecting camera stills port to encoder input port";
// Now connect the camera to the encoder
status = connect_ports(camera_still_port, encoder_input_port, &photo.encoder_connection);
if (status != MMAL_SUCCESS)
{
ofLogVerbose() << "connect camera video port to encoder input FAIL";
}else
{
ofLogVerbose() << "connect camera video port to encoder input PASS";
}
// 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.photo = &photo;
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;
ofLogVerbose() << "Enabling encoder output port";
// 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)
{
ofLogVerbose() << "Setup encoder output FAIL, error: " << status;
}else
{
ofLogVerbose() << "Setup encoder output PASS";
}
}
void FlowPortTest::Execute(void)
{
cout << "Executing FlowPortTest" << endl;
Simulator::Init(L"ExteriorLight.ernest");
Simulator::SetDuration(seconds(10));
BinaryTraceRecorder trace_recorder("ExteriorLight.ernest.bt1");
trace_recorder.AddEventMapping("ExteriorLight.ernest#//@structureModel.0/@modules.23/@ports.3", 0);
Simulator::SetTraceRecorder(&trace_recorder);
//
// Building the hardware topology
//
// Create ECU
Ecu ecu1("ECU1");
Ecu ecu2("ECU2");
// Create the bus
SimpleBus bus("SimpleBus");
// Adding bus interfaces to ecus
SimpleBusInterface *ecu1BusInterface = ecu1.AddHardware<SimpleBusInterface>();
SimpleBusInterface *ecu2BusInterface = ecu2.AddHardware<SimpleBusInterface>();
// Attaching the interfaces to the bus
bus.AttachInterface(ecu1BusInterface);
bus.AttachInterface(ecu2BusInterface);
//
// Configuring the software system
//
// Set scheduler
OsekOS *os1 = ecu1.GetService<OsekOS>();
OsekOS *os2 = ecu2.GetService<OsekOS>();
os1->SetScheduler<RoundRobin>();
os2->SetScheduler<RoundRobin>();
// Create one task with two SWF
Task* t1 = os1->DeclareTask<SwfA>(0,
milliseconds(0),
milliseconds(40),
new WorstCaseExecutionSpecification(milliseconds(20)));
Task* t2 = os2->DeclareTask<SwfB>(0,
milliseconds(10),
milliseconds(40),
new WorstCaseExecutionSpecification(milliseconds(20)));
SwfA* swfA = dynamic_cast<SwfA*>(t1->GetSwf());
SwfB* swfB = dynamic_cast<SwfB*>(t2->GetSwf());
connect_ports(swfA->src_counter, swfB->counter);
Simulator::Start();
}
void jack_raw_output::start ()
{
check_idle ();
jack_activate (_client);
auto grd_activate = base::make_guard ([&] { jack_deactivate (_client); });
connect_ports ();
grd_activate.dismiss ();
set_state (async_state::running);
}
static int sim_init_net(char *netconf, FILE * out)
{
DEBUG("reading %s", netconf);
if (read_netconf(netconf, out) < 0)
return -1;
if (connect_ports() < 0)
return -2;
if (set_default_port(NULL) < 0)
return -3;
return 0;
}
RaspiCamCvCapture * raspiCamCvCreateCameraCapture(int index)
{
RaspiCamCvCapture * capture = (RaspiCamCvCapture*)malloc(sizeof(RaspiCamCvCapture));
// Our main data storage vessel..
RASPIVID_STATE * state = (RASPIVID_STATE*)malloc(sizeof(RASPIVID_STATE));
capture->pState = state;
MMAL_STATUS_T status = -1;
MMAL_PORT_T *camera_video_port = NULL;
MMAL_PORT_T *camera_video_port_2 = NULL;
//MMAL_PORT_T *camera_still_port = NULL;
MMAL_PORT_T *encoder_input_port = NULL;
MMAL_PORT_T *encoder_output_port = NULL;
bcm_host_init();
// read default status
default_status(state);
int w = state->width;
int h = state->height;
state->py = cvCreateImage(cvSize(w,h), IPL_DEPTH_8U, 3); // Y component of YUV I420 frame
if (state->graymode==0)
{
state->pu = cvCreateImage(cvSize(w/2,h/2), IPL_DEPTH_8U, 1); // U component of YUV I420 frame
state->pv = cvCreateImage(cvSize(w/2,h/2), IPL_DEPTH_8U, 1); // V component of YUV I420 frame
}
vcos_semaphore_create(&state->capture_sem, "Capture-Sem", 0);
vcos_semaphore_create(&state->capture_done_sem, "Capture-Done-Sem", 0);
if (state->graymode==0)
{
state->pu_big = cvCreateImage(cvSize(w,h), IPL_DEPTH_8U, 1);
state->pv_big = cvCreateImage(cvSize(w,h), IPL_DEPTH_8U, 1);
state->yuvImage = cvCreateImage(cvSize(w,h), IPL_DEPTH_8U, 3);
state->dstImage = cvCreateImage(cvSize(w,h), IPL_DEPTH_8U, 3); // final picture to display
}
//printf("point2.0\n");
// create camera
if (!create_camera_component(state))
{
vcos_log_error("%s: Failed to create camera component", __func__);
raspiCamCvReleaseCapture(&capture);
return NULL;
} else if ((status = create_encoder_component(state)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create encode component", __func__);
destroy_camera_component(state);
return NULL;
}
//printf("point2.1\n");
//create_encoder_component(state);
camera_video_port = state->camera_component->output[MMAL_CAMERA_VIDEO_PORT];
camera_video_port_2 = state->camera_component->output[MMAL_CAMERA_VIDEO_PORT_2];
//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];
// assign data to use for callback
camera_video_port->userdata = (struct MMAL_PORT_USERDATA_T *)state;
// assign data to use for callback
camera_video_port_2->userdata = (struct MMAL_PORT_USERDATA_T *)state;
// Now connect the camera to the encoder
status = connect_ports(camera_video_port_2, encoder_input_port, &state->encoder_connection);
if (state->filename)
{
if (state->filename[0] == '-')
{
state->callback_data.file_handle = stdout;
}
else
{
state->callback_data.file_handle = open_filename(state);
}
if (!state->callback_data.file_handle)
{
// 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__, state->filename);
}
}
// Set up our userdata - this is passed though to the callback where we need the information.
state->callback_data.pstate = state;
state->callback_data.abort = 0;
encoder_output_port->userdata = (struct MMAL_PORT_USERDATA_T *)&state->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)
{
state->encoder_connection = NULL;
vcos_log_error("%s: Failed to connect camera video port to encoder input", __func__);
return NULL;
}
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to setup encoder output");
return NULL;
}
//mmal_port_enable(encoder_output_port, encoder_buffer_callback);
// Only encode stuff if we have a filename and it opened
// Note we use the copy in the callback, as the call back MIGHT change the file handle
if (state->callback_data.file_handle)
{
int running = 1;
// 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 *buffer2 = mmal_queue_get(state->encoder_pool->queue);
if (!buffer2)
vcos_log_error("Unable to get a required buffer %d from pool queue", q);
if (mmal_port_send_buffer(encoder_output_port, buffer2)!= MMAL_SUCCESS)
vcos_log_error("Unable to send a buffer to encoder output port (%d)", q);
}
}
}
// start capture
if (mmal_port_parameter_set_boolean(camera_video_port_2, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to start capture", __func__);
raspiCamCvReleaseCapture(&capture);
return NULL;
}
// Send all the buffers to the video port
int num = mmal_queue_length(state->video_pool->queue);
int q;
for (q = 0; q < num; q++)
{
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(state->video_pool->queue);
if (!buffer)
vcos_log_error("Unable to get a required buffer %d from pool queue", q);
if (mmal_port_send_buffer(camera_video_port, buffer)!= MMAL_SUCCESS)
vcos_log_error("Unable to send a buffer to encoder output port (%d)", q);
}
//mmal_status_to_int(status);
// Disable all our ports that are not handled by connections
//check_disable_port(camera_still_port);
//if (status != 0)
// raspicamcontrol_check_configuration(128);
vcos_semaphore_wait(&state->capture_done_sem);
return capture;
}
int main(int argc, char *argv[])
{
static const char short_options[] = "hVlp:";
static const struct option long_options[] = {
{"help", 0, NULL, 'h'},
{"version", 0, NULL, 'V'},
{"list", 0, NULL, 'l'},
{"port", 1, NULL, 'p'},
{ }
};
int do_list = 0;
struct pollfd *pfds;
int npfds;
int c, err;
init_seq();
while ((c = getopt_long(argc, argv, short_options,
long_options, NULL)) != -1) {
switch (c) {
case 'h':
help(argv[0]);
return 0;
case 'V':
version();
return 0;
case 'l':
do_list = 1;
break;
case 'p':
parse_ports(optarg);
break;
default:
help(argv[0]);
return 1;
}
}
if (optind < argc) {
help(argv[0]);
return 1;
}
if (do_list) {
list_ports();
return 0;
}
create_port();
connect_ports();
err = snd_seq_nonblock(seq, 1);
check_snd("set nonblock mode", err);
if (port_count > 0)
printf("Waiting for data.");
else
printf("Waiting for data at port %d:0.",
snd_seq_client_id(seq));
printf(" Press Ctrl+C to end.\n");
printf("Source Event Ch Data\n");
signal(SIGINT, sighandler);
signal(SIGTERM, sighandler);
npfds = snd_seq_poll_descriptors_count(seq, POLLIN);
pfds = alloca(sizeof(*pfds) * npfds);
for (;;) {
snd_seq_poll_descriptors(seq, pfds, npfds, POLLIN);
if (poll(pfds, npfds, -1) < 0)
break;
do {
snd_seq_event_t *event;
err = snd_seq_event_input(seq, &event);
if (err < 0)
break;
if (event)
dump_event(event);
} while (err > 0);
fflush(stdout);
if (stop)
break;
}
snd_seq_close(seq);
return 0;
}
/**
* 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();
signal(SIGINT, signal_handler);
default_status(&state);
if (!create_camera_component(&state))
{
vcos_log_error("%s: Failed to create camera component", __func__);
}
//else if (!raspipreview_create(&state.preview_parameters))
//{
// 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 )
{
if (state.verbose)
{
fprintf(stderr, "Connecting camera preview port to preview input port\n");
fprintf(stderr, "Starting video preview\n");
}
// 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;
if (state.verbose)
fprintf(stderr, "Connecting camera stills port to encoder input port\n");
// 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;
if (state.verbose)
fprintf(stderr, "Enabling encoder output port\n");
// 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 = state.timelapse ? state.timeout / state.timelapse : 1;
int frame;
for (frame = 1;frame<=num_iterations; frame++)
{
if (state.timelapse)
vcos_sleep(state.timelapse);
else
vcos_sleep(state.timeout);
// 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);
}
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);
}
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 (state.verbose)
fprintf(stderr, "Close down completed, all components disconnected, disabled and destroyed\n\n");
}
if (status != 0)
raspicamcontrol_check_configuration(128);
return 0;
}
static int config_input(AVFilterLink *inlink)
{
AVFilterContext *ctx = inlink->dst;
return connect_ports(ctx, inlink);
}
/**
* main
*/
int main(int argc, const char **argv)
{
// *** MODIFICATION: OpenCV modifications.
// Load previous image.
IplImage* prevImage = cvLoadImage("motion1.jpg", CV_LOAD_IMAGE_COLOR);
// Create two arrays with the same number of channels than the original one.
avg1 = cvCreateMat(prevImage->height,prevImage->width,CV_32FC3);
avg2 = cvCreateMat(prevImage->height,prevImage->width,CV_32FC3);
// Create image of 32 bits.
IplImage* image32 = cvCreateImage(cvSize(prevImage->width,prevImage->height), 32,3);
// Convert image to 32 bits.
cvConvertScale(prevImage,image32,1/255,0);
// Set data from previous image into arrays.
cvSetData(avg1,image32->imageData,image32->widthStep);
cvSetData(avg2,image32->imageData,image32->widthStep);
// *** MODIFICATION end
// Our main data storage vessel..
RASPISTILL_STATE state;
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;
MMAL_PORT_T *encoder_input_port = NULL;
MMAL_PORT_T *encoder_output_port = NULL;
bcm_host_init();
// Register our application with the logging system
vcos_log_register("fast", VCOS_LOG_CATEGORY);
signal(SIGINT, signal_handler);
default_status(&state);
if (state.verbose)
{
fprintf(stderr, "\n%s Camera App %s\n\n", basename(argv[0]), VERSION_STRING);
}
// OK, we have a nice set of parameters. Now set up our components
// We have three components. Camera, Preview and encoder.
// Camera and encoder are 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__);
}
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 ((status = create_encoder_component(&state)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create encode component", __func__);
raspipreview_destroy(&state.preview_parameters);
destroy_camera_component(&state);
}
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];
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 )
{
if (state.verbose)
{
fprintf(stderr, "Connecting camera preview port to preview input port\n");
fprintf(stderr, "Starting video preview\n");
}
// *** USER: remove preview
// Connect camera to preview
//status = connect_ports(camera_preview_port, preview_input_port, &state.preview_connection);
}
else
{
status = MMAL_SUCCESS;
}
if (status == MMAL_SUCCESS)
{
VCOS_STATUS_T vcos_status;
if (state.verbose)
fprintf(stderr, "Connecting camera stills port to encoder input port\n");
// 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);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to setup encoder output");
goto error;
}
FILE *output_file = NULL;
int frame = 1;
// Enable the encoder output port
encoder_output_port->userdata = (struct MMAL_PORT_USERDATA_T *)&callback_data;
if (state.verbose)
fprintf(stderr, "Enabling encoder output port\n");
// Enable the encoder output port and tell it its callback function
status = mmal_port_enable(encoder_output_port, encoder_buffer_callback);
// Create an empty matrix with the size of the buffer.
CvMat* buf = cvCreateMat(1,60000,CV_8UC1);
// Keep buffer that gets frames from queue.
MMAL_BUFFER_HEADER_T *buffer;
// Image to be displayed.
IplImage* image;
// Keep number of buffers and index for the loop.
int num, q;
while(1)
{
// Send all the buffers to the encoder output port
num = mmal_queue_length(state.encoder_pool->queue);
for (q=0;q<num;q++)
{
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
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);
} // else
// Copy buffer from camera to matrix.
buf->data.ptr = buffer->data;
// This workaround is needed for the code to work
// *** TODO: investigate why.
printf("Until here works\n");
// Decode the image and display it.
image = cvDecodeImage(buf, CV_LOAD_IMAGE_COLOR);
// Destinations
CvMat* res1 = cvCreateMat(image->height,image->width,CV_8UC3);
CvMat* res2 = cvCreateMat(image->height,image->width,CV_8UC3);
// Update running averages and then scale, calculate absolute values
// and convert the result 8-bit.
// *** USER:change the value of the weight.
cvRunningAvg(image,avg2,0.0001, NULL);
cvConvertScaleAbs(avg2, res2, 1,0);
cvRunningAvg(image,avg1,0.1, NULL);
cvConvertScaleAbs(avg1, res1, 1,0);
// Show images
cvShowImage("img",image);
cvShowImage("avg1",res1);
cvShowImage("avg2",res2);
cvWaitKey(20);
// Update previous image.
cvSaveImage("motion1.jpg", image, 0);
} // end while
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");
// Disable all our ports that are not handled by connections
check_disable_port(camera_video_port);
check_disable_port(encoder_output_port);
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 (state.verbose)
fprintf(stderr, "Close down completed, all components disconnected, disabled and destroyed\n\n");
}
if (status != MMAL_SUCCESS)
raspicamcontrol_check_configuration(128);
return 0;
}
/**
* 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;
}
void MmalStillCamera::initialize(CameraMode cameraMode)
{
m_resolution = MmalUtil::get()->getClosestResolution(m_name, cameraMode);
if (m_imageWidth != -1)
{
throw Exception("Camera is already initialized");
}
m_imageWidth = m_resolution.width;
m_imageHeight = m_resolution.height;
m_callbackData = new MmalStillCallbackData(m_imageWidth, m_imageHeight, 3);
// Handle the sensor properties
real sensorWidth, sensorHeight, focalLength;
MmalUtil::get()->getSensorProperties(m_name, sensorWidth, sensorHeight, focalLength);
setSensorProperties(sensorWidth, sensorHeight, focalLength);
createCameraComponent();
InfoLog << "Created camera" << Logger::ENDL;
createPreview();
InfoLog << "Created preview" << Logger::ENDL;
InfoLog << "Target Image Width: " << VCOS_ALIGN_UP(m_imageWidth, 32) << Logger::ENDL;
InfoLog << "Target Image Height: " << VCOS_ALIGN_UP(m_imageHeight, 16) << Logger::ENDL;
MMAL_STATUS_T status;
m_targetPort = m_stillPort;
// Create pool of buffer headers for the output port to consume
m_pool = mmal_port_pool_create(m_targetPort, m_targetPort->buffer_num, m_targetPort->buffer_size);
if (m_pool == NULL)
{
throw Exception("Failed to create buffer header pool for encoder output port");
}
MMAL_CONNECTION_T *preview_connection = NULL;
status = connect_ports(m_previewPort, m_preview->input[0], &preview_connection);
if (status != MMAL_SUCCESS)
{
throw Exception("Error connecting preview port");
}
m_targetPort->userdata = (struct MMAL_PORT_USERDATA_T *) m_callbackData;
m_callbackData->image = NULL;
m_callbackData->pool = m_pool;
// Enable the encoder output port and tell it its callback function
if (mmal_port_enable(m_targetPort, EncoderBufferCallback) != MMAL_SUCCESS)
{
ErrorLog << "Error enabling the encoder buffer callback" << Logger::ENDL;
}
// Send all the buffers to the encoder output port
int num = mmal_queue_length(m_pool->queue);
for (int q = 0; q < num; q++)
{
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(m_pool->queue);
if (buffer == NULL)
{
ErrorLog << "Unable to get buffer " << q << " from the pool" << Logger::ENDL;
}
if (mmal_port_send_buffer(m_targetPort, buffer) != MMAL_SUCCESS)
{
ErrorLog << "Unable to send a buffer " << q << " to encoder output port " << Logger::ENDL;
}
}
// Enable burst mode
if (m_burstModeEnabled)
{
if (mmal_port_parameter_set_boolean(m_camera->control, MMAL_PARAMETER_CAMERA_BURST_CAPTURE, 1) != MMAL_SUCCESS)
{
ErrorLog << "Error enabling burst mode" << Logger::ENDL;
}
InfoLog << "Enabled burst mode for still images" << Logger::ENDL;
}
InfoLog << "Initialized camera" << Logger::ENDL;
}
void camera_thread(
void
)
{
static MMAL_STATUS_T status;
static RASPIVID_STATE state;
static MMAL_PORT_T *camera_preview_port = NULL;
static MMAL_PORT_T *camera_video_port = NULL;
static MMAL_PORT_T *camera_still_port = NULL;
static MMAL_PORT_T *preview_input_port = NULL;
static MMAL_PORT_T *encoder_input_port = NULL;
static MMAL_PORT_T *encoder_output_port = NULL;
static FILE *output_file = NULL;
f_nal_queue = sx_queue_create();
bcm_host_init();
default_status(&state);
state.verbose = 1;
status = create_camera_component(&state);
assert(status == MMAL_SUCCESS);
status = raspipreview_create(&state.preview_parameters);
assert(status == MMAL_SUCCESS);
status = create_encoder_component(&state);
assert(status == MMAL_SUCCESS);
PORT_USERDATA callback_data;
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];
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];
// Now connect the camera to the encoder
status = connect_ports(camera_video_port,
encoder_input_port,
&state.encoder_connection);
assert(status == MMAL_SUCCESS);
char *filename = "output.h264";
state.filename = filename;
output_file = fopen(state.filename, "wb");
// Set up our userdata - this is passed though to the callback where we need the information.
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;
// Enable the encoder output port and tell it its callback function
status = mmal_port_enable(encoder_output_port, encoder_buffer_callback);
assert(status == MMAL_SUCCESS);
// Only encode stuff if we have a filename and it opened
if (output_file)
{
int wait;
if (state.verbose)
fprintf(stderr, "Starting video capture\n");
status = mmal_port_parameter_set_boolean(camera_video_port, MMAL_PARAMETER_CAPTURE, 1);
assert(status == MMAL_SUCCESS);
// Send all the buffers to the encoder output port
{
int num = mmal_queue_length(state.encoder_pool->queue);
int q;
fprintf(stderr, "mmal_queue_len = %d\n", num);
for (q=0;q<num;q++)
{
printf("start current time = %d\n", get_time_ns());
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(state.encoder_pool->queue);
assert(buffer != NULL);
status = mmal_port_send_buffer(encoder_output_port, buffer);
assert(status == MMAL_SUCCESS);
}
}
// Now wait until we need to stop. Whilst waiting we do need to check to see if we have aborted (for example
// out of storage space)
// Going to check every ABORT_INTERVAL milliseconds
#if 1
while(1)
{
// sleep forever.
vcos_sleep(ABORT_INTERVAL);
}
#endif
#if 0
for (wait = 0; state.timeout == 0 || wait < state.timeout; wait+= ABORT_INTERVAL)
{
vcos_sleep(ABORT_INTERVAL);
if (callback_data.abort)
{
fprintf(stderr, "333\n");
break;
}
fprintf(stderr, "222\n");
}
fprintf(stderr, "wait = %u\n", wait);
if (state.verbose)
fprintf(stderr, "Finished capture\n");
#endif
}
}
/**
* main
*/
int main(int argc, const char **argv)
{
// Our main data storage vessel..
RASPISTILLYUV_STATE state;
MMAL_STATUS_T status;
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;
// Register our application with the logging system
vcos_log_register("RaspiStill", VCOS_LOG_CATEGORY);
printf("\nRaspiStillYUV Camera App\n");
printf( "========================\n\n");
signal(SIGINT, signal_handler);
// Do we have any parameters
if (argc == 1)
{
display_valid_parameters();
exit(0);
}
default_status(&state);
// Parse the command line and put options in to our status structure
if (parse_cmdline(argc, argv, &state))
{
status = -1;
exit(0);
}
if (state.verbose)
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 (!create_camera_component(&state))
{
vcos_log_error("%s: Failed to create camera component", __func__);
}
else if ( !raspipreview_create(&state.preview_parameters))
{
vcos_log_error("%s: Failed to create preview component", __func__);
destroy_camera_component(&state);
}
else
{
PORT_USERDATA callback_data;
if (state.verbose)
printf("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];
preview_input_port = state.preview_parameters.preview_component->input[0];
if (state.preview_parameters.wantPreview )
{
if (state.verbose)
{
printf("Connecting camera preview port to preview input port\n");
printf("Starting video preview\n");
}
// Connect camera to preview
status = connect_ports(camera_preview_port, preview_input_port, &state.preview_connection);
}
if (status == MMAL_SUCCESS)
{
VCOS_STATUS_T vcos_status;
if (state.filename)
{
if (state.verbose)
printf("Opening output file %s\n", state.filename);
output_file = fopen(state.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__, state.filename);
}
}
// Set up our userdata - this is passed though to the callback where we need the information.
callback_data.file_handle = output_file;
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)
printf("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)
printf("Starting video preview\n");
// Send all the buffers to the encoder output port
{
int num = mmal_queue_length(state.camera_pool->queue);
int q;
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 encoder output port (%d)", q);
}
}
// Now wait until we need to do the capture
vcos_sleep(state.timeout);
// And only do the capture if we have specified a filename and its opened OK
if (output_file)
{
if (state.verbose)
printf("Starting capture\n");
// Fire the capture
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)
printf("Finished capture\n");
}
}
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)
printf("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_parameters.wantPreview )
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)
printf("Close down completed, all components disconnected, disabled and destroyed\n\n");
}
return 0;
}
bool JackToShmdata::start() {
buf_.resize(num_channels_ * jack_client_.get_buffer_size());
std::string data_type(
"audio/x-raw, "
"format=(string)F32LE, "
"layout=(string)interleaved, "
"rate=" +
std::to_string(jack_client_.get_sample_rate()) +
", "
"channels=" +
std::to_string(num_channels_) + ", channel-mask=(bitmask)");
// This channel mask is used by most encoders.
// Here is the reference for the values according to the number of channels: https://goo.gl/M4b7Di
std::string channel_mask;
switch (num_channels_) {
case 1:
channel_mask = "0x1";
break;
case 2:
channel_mask = "0x3";
break;
case 3:
channel_mask = "0x7";
break;
case 4:
channel_mask = "0x107";
break;
case 5:
channel_mask = "0x37";
break;
case 6:
channel_mask = "0x3f";
break;
default:
channel_mask = "0x0";
break;
}
data_type += channel_mask;
std::string shmpath = make_shmpath("audio");
shm_ = std::make_unique<ShmdataWriter>(
this, shmpath, buf_.size() * sizeof(jack_sample_t), data_type);
if (!shm_.get()) {
warning("JackToShmdata failed to start");
shm_.reset(nullptr);
return false;
}
pmanage<MPtr(&PContainer::disable)>(auto_connect_id_, disabledWhenStartedMsg);
pmanage<MPtr(&PContainer::disable)>(num_channels_id_, disabledWhenStartedMsg);
pmanage<MPtr(&PContainer::disable)>(client_name_id_, disabledWhenStartedMsg);
pmanage<MPtr(&PContainer::disable)>(connect_to_id_, disabledWhenStartedMsg);
pmanage<MPtr(&PContainer::disable)>(index_id_, disabledWhenStartedMsg);
{
std::lock_guard<std::mutex> lock(input_ports_mutex_);
input_ports_.clear();
for (unsigned int i = 0; i < num_channels_; ++i)
input_ports_.emplace_back(jack_client_, i + 1, false);
connect_ports();
}
return true;
}
/**
* main
*/
int main(int argc, const char **argv)
{
// Our main data storage vessel..
RASPIVID_STATE state;
MMAL_STATUS_T status;
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;
FILE *output_file = NULL;
// Register our application with the logging system
vcos_log_register("RaspiVid", VCOS_LOG_CATEGORY);
printf("\nRaspiVid Camera App\n");
printf("===================\n\n");
signal(SIGINT, signal_handler);
default_status(&state);
// Do we have any parameters
if (argc == 1)
{
display_valid_parameters();
exit(0);
}
// Parse the command line and put options in to our status structure
if (parse_cmdline(argc, argv, &state))
{
status = -1;
exit(0);
}
if (state.verbose)
dump_status(&state);
// OK, we have a nice set of parameters. Now set up our components
// We have three components. Camera, Preview and encoder.
if (!create_camera_component(&state))
{
vcos_log_error("%s: Failed to create camera component", __func__);
}
else if (!raspipreview_create(&state.preview_parameters))
{
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;
if (state.verbose)
printf("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];
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 )
{
if (state.verbose)
{
printf("Connecting camera preview port to preview input port\n");
printf("Starting video preview\n");
}
// Connect camera to preview
status = connect_ports(camera_preview_port, preview_input_port, &state.preview_connection);
}
if (status == MMAL_SUCCESS)
{
VCOS_STATUS_T vcos_status;
if (state.verbose)
printf("Connecting camera stills port to encoder input port\n");
// 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;
}
if (state.filename)
{
if (state.verbose)
printf("Opening output file %s\n", state.filename);
output_file = fopen(state.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__, state.filename);
}
}
// Set up our userdata - this is passed though to the callback where we need the information.
callback_data.file_handle = output_file;
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;
if (state.verbose)
printf("Enabling encoder output port\n");
// 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;
}
if (state.demoMode)
{
// Run for the user specific time..
int num_iterations = state.timeout / state.demoInterval;
int i;
printf("Running in demo mode\n");
for (i=0;i<num_iterations;i++)
{
raspicamcontrol_cycle_test(state.camera_component);
vcos_sleep(state.demoInterval);
}
}
else
{
// Only encode stuff if we have a filename and it opened
if (output_file)
{
if (state.verbose)
printf("Starting video capture\n");
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);
}
}
// Now wait until we need to stop
vcos_sleep(state.timeout);
printf("Finished capture\n");
}
else
vcos_sleep(state.timeout);
}
}
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)
printf("Closing down\n");
// Disable all our ports that are not handled by connections
check_disable_port(camera_still_port);
check_disable_port(encoder_output_port);
if (state.preview_parameters.wantPreview )
mmal_connection_destroy(state.preview_connection);
mmal_connection_destroy(state.encoder_connection);
// Can now close our file. Note disabling ports may flush buffers which causes
// problems if we have already closed the file!
if (output_file)
fclose(output_file);
/* 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 (state.verbose)
printf("Close down completed, all components disconnected, disabled and destroyed\n\n");
}
return 0;
}
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..
RASPIVID_STATE state;
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;
MMAL_PORT_T *encoder_input_port = NULL;
MMAL_PORT_T *encoder_output_port = NULL;
FILE *output_file = NULL;
bcm_host_init();
// Register our application with the logging system
vcos_log_register("RaspiVid", VCOS_LOG_CATEGORY);
signal(SIGINT, signal_handler);
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(0);
}
// Parse the command line and put options in to our status structure
if (parse_cmdline(argc, argv, &state))
{
status = -1;
exit(0);
}
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 three components. Camera, Preview and encoder.
if ((status = create_camera_component(&state)) != MMAL_SUCCESS)
{
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 ((status = create_encoder_component(&state)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create encode component", __func__);
raspipreview_destroy(&state.preview_parameters);
destroy_camera_component(&state);
}
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];
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 )
{
if (state.verbose)
{
fprintf(stderr, "Connecting camera preview port to preview input port\n");
fprintf(stderr, "Starting video preview\n");
}
// Connect camera to preview
status = connect_ports(camera_preview_port, preview_input_port, &state.preview_connection);
}
else
{
status = MMAL_SUCCESS;
}
if (status == MMAL_SUCCESS)
{
if (state.verbose)
fprintf(stderr, "Connecting camera stills port to encoder input port\n");
// 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;
}
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
{
if (state.verbose)
fprintf(stderr, "Opening output file \"%s\"\n", state.filename);
output_file = fopen(state.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__, state.filename);
}
}
// Set up our userdata - this is passed though to the callback where we need the information.
callback_data.file_handle = output_file;
callback_data.image = Mat(Size(state.width, state.height), CV_8UC1);
callback_data.pstate = &state;
callback_data.abort = 0;
encoder_output_port->userdata = (struct MMAL_PORT_USERDATA_T *)&callback_data;
if (state.verbose)
fprintf(stderr, "Enabling encoder output port\n");
// 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;
}
if (state.demoMode)
{
// Run for the user specific time..
int num_iterations = state.timeout / state.demoInterval;
int i;
if (state.verbose)
fprintf(stderr, "Running in demo mode\n");
for (i=0;state.timeout == 0 || i<num_iterations;i++)
{
raspicamcontrol_cycle_test(state.camera_component);
vcos_sleep(state.demoInterval);
}
}
else
{
// Only encode stuff if we have a filename and it opened
if (output_file)
{
int wait;
if (state.verbose)
fprintf(stderr, "Starting video capture\n");
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);
}
}
// Now wait until we need to stop. Whilst waiting we do need to check to see if we have aborted (for example
// out of storage space)
// Going to check every ABORT_INTERVAL milliseconds
for (wait = 0; state.timeout == 0 || wait < state.timeout; wait+= ABORT_INTERVAL)
{
vcos_sleep(ABORT_INTERVAL);
if (callback_data.abort)
break;
}
if (state.verbose)
fprintf(stderr, "Finished capture\n");
}
else
{
if (state.timeout)
vcos_sleep(state.timeout);
else
for (;;) vcos_sleep(ABORT_INTERVAL);
}
}
}
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");
// Disable all our ports that are not handled by connections
check_disable_port(camera_still_port);
check_disable_port(encoder_output_port);
if (state.preview_parameters.wantPreview )
mmal_connection_destroy(state.preview_connection);
mmal_connection_destroy(state.encoder_connection);
// Can now close our file. Note disabling ports may flush buffers which causes
// problems if we have already closed the file!
if (output_file && output_file != stdout)
fclose(output_file);
/* 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 (state.verbose)
fprintf(stderr, "Close down completed, all components disconnected, disabled and destroyed\n\n");
}
if (status != MMAL_SUCCESS)
raspicamcontrol_check_configuration(128);
return 0;
}
int init_cam()
{
bcm_host_init();
// Register our application with the logging system
vcos_log_register("RaspiStill", VCOS_LOG_CATEGORY);
signal(SIGINT, signal_handler);
default_status(&gState);
if ((gStatus = create_camera_component(&gState)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create camera component", __func__);
gStatus = ! MMAL_SUCCESS;
}
else if ((gStatus = nullsink_preview(&gState.preview_parameters)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create preview component", __func__);
destroy_camera_component(&gState);
gStatus = ! MMAL_SUCCESS;
}
else
{
gCamera_preview_port = gState.camera_component->output[MMAL_CAMERA_PREVIEW_PORT];
gCamera_video_port = gState.camera_component->output[MMAL_CAMERA_VIDEO_PORT];
gCamera_still_port = gState.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
gPreview_input_port = gState.preview_parameters.preview_component->input[0];
// Connect camera to preview (which might be a null_sink if no preview required)
gStatus = connect_ports(gCamera_preview_port, gPreview_input_port, &gState.preview_connection);
if (gStatus == MMAL_SUCCESS)
{
VCOS_STATUS_T vcos_status;
// Set up our userdata - this is passed though to the callback where we need the information.
gCallback_data.pstate = &gState;
vcos_status = vcos_semaphore_create(&gCallback_data.complete_semaphore, "RaspiStill-sem", 0);
vcos_assert(vcos_status == VCOS_SUCCESS);
gCamera_still_port->userdata = (struct MMAL_PORT_USERDATA_T *)&gCallback_data;
// Enable the camera still output port and tell it its callback function
gStatus = mmal_port_enable(gCamera_still_port, camera_buffer_callback);
if (gStatus != MMAL_SUCCESS)
{
vcos_log_error("Failed to setup camera output");
error_cam();
}
}
else
{
mmal_status_to_int(gStatus);
vcos_log_error("%s: Failed to connect camera to preview", __func__);
}
}
if (gStatus != MMAL_SUCCESS)
raspicamcontrol_check_configuration(128);
return gStatus != MMAL_SUCCESS;
}
MmalStillCamera::MmalStillCamera(int imageWidth, int imageHeight, bool enableBurstMode) :
m_imageWidth(imageWidth),
m_imageHeight(imageHeight),
m_callbackData(NULL),
m_cs(),
m_camera(NULL),
m_preview(NULL),
m_encoder(NULL),
m_pool(NULL),
m_previewPort(NULL),
m_videoPort(NULL),
m_stillPort(NULL),
m_targetPort(NULL)
{
m_callbackData = new MmalStillCallbackData(m_imageWidth, m_imageHeight, 3);
createCameraComponent();
std::cout << "Created camera" << std::endl;
createPreview();
std::cout << "Created preview" << std::endl;
std::cout << "Target Image Width: " << VCOS_ALIGN_UP(m_imageWidth, 32) << std::endl;
std::cout << "Target Image Height: " << VCOS_ALIGN_UP(m_imageHeight, 16) << std::endl;
MMAL_STATUS_T status;
m_targetPort = m_stillPort;
// Create pool of buffer headers for the output port to consume
m_pool = mmal_port_pool_create(m_targetPort, m_targetPort->buffer_num, m_targetPort->buffer_size);
if (m_pool == NULL)
{
throw Exception("Failed to create buffer header pool for encoder output port");
}
MMAL_CONNECTION_T *preview_connection = NULL;
status = connect_ports(m_previewPort, m_preview->input[0], &preview_connection);
if (status != MMAL_SUCCESS)
{
throw Exception("Error connecting preview port");
}
m_targetPort->userdata = (struct MMAL_PORT_USERDATA_T *) m_callbackData;
m_callbackData->image = NULL;
m_callbackData->pool = m_pool;
// Enable the encoder output port and tell it its callback function
if (mmal_port_enable(m_targetPort, EncoderBufferCallback) != MMAL_SUCCESS)
{
std::cerr << "Error enabling the encoder buffer callback" << std::endl;
}
// Send all the buffers to the encoder output port
int num = mmal_queue_length(m_pool->queue);
for (int q = 0; q < num; q++)
{
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(m_pool->queue);
if (buffer == NULL)
{
std::cerr << "Unable to get buffer " << q << " from the pool" << std::endl;
}
if (mmal_port_send_buffer(m_targetPort, buffer)!= MMAL_SUCCESS)
{
std::cerr << "Unable to send a buffer " << q << " to encoder output port " << std::endl;
}
}
// Enable burst mode
if (enableBurstMode)
{
if (mmal_port_parameter_set_boolean(m_camera->control, MMAL_PARAMETER_CAMERA_BURST_CAPTURE, 1) != MMAL_SUCCESS)
{
std::cerr << "Error enabling burst mode" << std::endl;
}
std::cout << "Enabled burst mode for still images" << std::endl;
}
std::cout << "Initialized camera" << std::endl;
}
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);
}
/**
* 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(stdout, "\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;
}
int lp_ladspa_audio_ports::run_interlaced_buffer(float *buffer, int tot_len)
{
if(pv_routing == MONO_NORMAL){
// Copy interlaced to plugin input
pv_in_data[0].set_data_copy(buffer, tot_len);
if(connect_ports() < 0){
std::cerr << "lp_ladspa_audio_ports::" << __FUNCTION__ << ": connect_ports failed\n";
return -1;
}
pv_instances[0].run(tot_len);
pv_out_data[0].get_data_copy(buffer, tot_len);
}else if(pv_routing == MONO_HALF_USED){
// Only use One I/O port, the others must simply benn allocated to run
pv_in_data[0].set_data_copy(buffer, tot_len);
if(connect_ports() < 0){
std::cerr << "lp_ladspa_audio_ports::" << __FUNCTION__ << ": connect_ports failed\n";
return -1;
}
pv_instances[0].run(tot_len);
pv_out_data[0].get_data_copy(buffer, tot_len);
}else if(pv_routing == MONO_1H_MERGE_OUTPUT){
// Copy interlaced to plugin input
pv_in_data[0].set_data_copy(buffer, tot_len);
if(connect_ports() < 0){
std::cerr << "lp_ladspa_audio_ports::" << __FUNCTION__ << ": connect_ports failed\n";
return -1;
}
pv_instances[0].run(tot_len);
// Mix the two outputs result to the passed buffer back
mix_data(buffer, pv_out_data[0].data_ptr(), pv_out_data[1].data_ptr(), tot_len);
}else if(pv_routing == MONO_1H_SPLIT_INPUT){
// Copy interlaced to plugin input (same data to each)
pv_in_data[0].set_data_copy(buffer, tot_len);
pv_in_data[1].set_data_copy(buffer, tot_len);
if(connect_ports() < 0){
std::cerr << "lp_ladspa_audio_ports::" << __FUNCTION__ << ": connect_ports failed\n";
return -1;
}
pv_instances[0].run(tot_len);
pv_out_data[0].get_data_copy(buffer, tot_len);
}else if(pv_routing == MONO_1H_NO_INPUT){
// No input..
if(connect_ports() < 0){
std::cerr << "lp_ladspa_audio_ports::" << __FUNCTION__ << ": connect_ports failed\n";
return -1;
}
pv_instances[0].run(tot_len);
pv_out_data[0].get_data_copy(buffer, tot_len);
}else if(pv_routing == MONO_1H_NO_INPUT_MERGE_OUTPUT){
// No input..
if(connect_ports() < 0){
std::cerr << "lp_ladspa_audio_ports::" << __FUNCTION__ << ": connect_ports failed\n";
return -1;
}
pv_instances[0].run(tot_len);
mix_data(buffer, pv_out_data[0].data_ptr(), pv_out_data[1].data_ptr(), tot_len);
}else if(pv_routing == STEREO_NORMAL){
// Copy interlaced to plugin inputs
pv_in_data[0].set_data_left_copy(buffer, tot_len);
pv_in_data[1].set_data_right_copy(buffer, tot_len);
if(connect_ports() < 0){
std::cerr << "lp_ladspa_audio_ports::" << __FUNCTION__ << ": connect_ports failed\n";
return -1;
}
pv_instances[0].run(tot_len/2);
pv_out_data[0].get_data_left_copy(buffer, tot_len);
pv_out_data[1].get_data_right_copy(buffer, tot_len);
}else if(pv_routing == STEREO_2H){
// Copy interlaced to plugin inputs
pv_in_data[0].set_data_left_copy(buffer, tot_len);
pv_in_data[0].set_data_right_copy(buffer, tot_len);
if(connect_ports() < 0){
std::cerr << "lp_ladspa_audio_ports::" << __FUNCTION__ << ": connect_ports failed\n";
return -1;
}
pv_instances[0].run(tot_len/2);
pv_instances[1].run(tot_len/2);
pv_out_data[0].get_data_left_copy(buffer, tot_len);
pv_out_data[0].get_data_right_copy(buffer, tot_len);
}else if(pv_routing == STEREO_2H_MERGE_OUTPUT){
// Copy interlaced to plugin inputs
pv_in_data[0].set_data_left_copy(buffer, tot_len);
pv_in_data[0].set_data_right_copy(buffer, tot_len);
if(connect_ports() < 0){
std::cerr << "lp_ladspa_audio_ports::" << __FUNCTION__ << ": connect_ports failed\n";
return -1;
}
pv_instances[0].run(tot_len/2);
pv_instances[1].run(tot_len/2);
// Mix data 0 and 2, and store it temporary to passed buffer (half len)
mix_data(buffer, pv_out_data[0].data_ptr(), pv_out_data[2].data_ptr(), tot_len/2);
// Store buffer content to tmp 0
pv_tmp_data[0].set_data_copy(buffer, tot_len/2);
// The same with 1 and 3
mix_data(buffer, pv_out_data[1].data_ptr(), pv_out_data[3].data_ptr(), tot_len/2);
pv_tmp_data[1].set_data_copy(buffer, tot_len/2);
// Copy tmp 1 and 2 to passed buffer - Ouf !
pv_tmp_data[0].get_data_left_copy(buffer, tot_len);
pv_tmp_data[0].get_data_right_copy(buffer, tot_len);
}else{
return -1;
}
return tot_len;
}
