/**
* main
*/
int main(int argc, const char **argv)
{
// 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("RaspiStill", VCOS_LOG_CATEGORY);
signal(SIGINT, signal_handler);
default_status(&state);
// Do we have any parameters
if (argc == 1)
{
fprintf(stderr, "\%s Camera App %s\n\n", basename(argv[0]), VERSION_STRING);
display_valid_parameters(basename(argv[0]));
exit(0);
}
/**
* Parse the incoming command line and put resulting parameters in to the state
*
* @param argc Number of arguments in command line
* @param argv Array of pointers to strings from command line
* @param state Pointer to state structure to assign any discovered parameters to
* @return non-0 if failed for some reason, 0 otherwise
*/
static int parse_cmdline(int argc, const char **argv, RASPISTILLYUV_STATE *state)
{
// Parse the command line arguments.
// We are looking for --<something> or -<abreviation of something>
int valid = 1; // set 0 if we have a bad parameter
int i;
for (i = 1; i < argc && valid; i++)
{
int command_id, num_parameters;
if (!argv[i])
continue;
if (argv[i][0] != '-')
{
valid = 0;
continue;
}
// Assume parameter is valid until proven otherwise
valid = 1;
command_id = raspicli_get_command_id(cmdline_commands, cmdline_commands_size, &argv[i][1], &num_parameters);
// If we found a command but are missing a parameter, continue (and we will drop out of the loop)
if (command_id != -1 && num_parameters > 0 && (i + 1 >= argc) )
continue;
// We are now dealing with a command line option
switch (command_id)
{
case CommandHelp:
display_valid_parameters(basename(argv[0]));
return -1;
case CommandWidth: // Width > 0
if (sscanf(argv[i + 1], "%u", &state->width) != 1)
valid = 0;
else
i++;
break;
case CommandHeight: // Height > 0
if (sscanf(argv[i + 1], "%u", &state->height) != 1)
valid = 0;
else
i++;
break;
case CommandOutput: // output filename
{
int len = strlen(argv[i + 1]);
if (len)
{
state->filename = malloc(len + 10); // leave enough space for any timelapse generated changes to filename
vcos_assert(state->filename);
if (state->filename)
strncpy(state->filename, argv[i + 1], len+1);
i++;
}
else
valid = 0;
break;
}
case CommandLink :
{
int len = strlen(argv[i+1]);
if (len)
{
state->linkname = malloc(len + 10);
vcos_assert(state->linkname);
if (state->linkname)
strncpy(state->linkname, argv[i + 1], len+1);
i++;
}
else
valid = 0;
break;
}
case CommandVerbose: // display lots of data during run
state->verbose = 1;
break;
case CommandTimeout: // Time to run viewfinder for before taking picture, in seconds
{
if (sscanf(argv[i + 1], "%u", &state->timeout) == 1)
{
// Ensure that if previously selected CommandKeypress we don't overwrite it
if (state->timeout == 0 && state->frameNextMethod == FRAME_NEXT_SINGLE)
state->frameNextMethod = FRAME_NEXT_FOREVER;
i++;
}
else
valid = 0;
break;
}
case CommandTimelapse:
if (sscanf(argv[i + 1], "%u", &state->timelapse) != 1)
valid = 0;
else
{
if (state->timelapse)
state->frameNextMethod = FRAME_NEXT_TIMELAPSE;
else
state->frameNextMethod = FRAME_NEXT_IMMEDIATELY;
i++;
}
break;
case CommandUseRGB: // display lots of data during run
state->useRGB = 1;
break;
case CommandCamSelect: //Select camera input port
{
if (sscanf(argv[i + 1], "%u", &state->cameraNum) == 1)
{
i++;
}
else
valid = 0;
break;
}
case CommandFullResPreview:
state->fullResPreview = 1;
break;
case CommandKeypress: // Set keypress between capture mode
state->frameNextMethod = FRAME_NEXT_KEYPRESS;
break;
case CommandSignal: // Set SIGUSR1 between capture mode
state->frameNextMethod = FRAME_NEXT_SIGNAL;
// Reenable the signal
signal(SIGUSR1, signal_handler);
break;
case CommandSettings:
state->settings = 1;
break;
case CommandBurstMode:
state->burstCaptureMode=1;
break;
default:
{
// Try parsing for any image specific parameters
// result indicates how many parameters were used up, 0,1,2
// but we adjust by -1 as we have used one already
const char *second_arg = (i + 1 < argc) ? argv[i + 1] : NULL;
int parms_used = (raspicamcontrol_parse_cmdline(&state->camera_parameters, &argv[i][1], second_arg));
// Still unused, try preview options
if (!parms_used)
parms_used = raspipreview_parse_cmdline(&state->preview_parameters, &argv[i][1], second_arg);
// If no parms were used, this must be a bad parameters
if (!parms_used)
valid = 0;
else
i += parms_used - 1;
break;
}
}
}
if (!valid)
{
fprintf(stderr, "Invalid command line option (%s)\n", argv[i-1]);
return 1;
}
return 0;
}
/**
* 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;
}
/**
* Parse the incoming command line and put resulting parameters in to the state
*
* @param argc Number of arguments in command line
* @param argv Array of pointers to strings from command line
* @param state Pointer to state structure to assign any discovered parameters to
* @return non-0 if failed for some reason, 0 otherwise
*/
static int parse_cmdline(int argc, const char **argv, RASPISTILL_STATE *state)
{
// Parse the command line arguments.
// We are looking for --<something> or -<abreviation of something>
int valid = 1;
int i;
for (i = 1; i < argc && valid; i++)
{
int command_id, num_parameters;
if (!argv[i])
continue;
if (argv[i][0] != '-')
{
valid = 0;
continue;
}
// Assume parameter is valid until proven otherwise
valid = 1;
command_id = raspicli_get_command_id(cmdline_commands, cmdline_commands_size, &argv[i][1], &num_parameters);
// If we found a command but are missing a parameter, continue (and we will drop out of the loop)
if (command_id != -1 && num_parameters > 0 && (i + 1 >= argc) )
continue;
// We are now dealing with a command line option
switch (command_id)
{
case CommandHelp:
display_valid_parameters(basename(argv[0]));
// exit straight away if help requested
return -1;
case CommandWidth: // Width > 0
if (sscanf(argv[i + 1], "%u", &state->width) != 1)
valid = 0;
else
i++;
break;
case CommandHeight: // Height > 0
if (sscanf(argv[i + 1], "%u", &state->height) != 1)
valid = 0;
else
i++;
break;
case CommandQuality: // Quality = 1-100
if (sscanf(argv[i + 1], "%u", &state->quality) == 1)
{
if (state->quality > 100)
{
fprintf(stderr, "Setting max quality = 100\n");
state->quality = 100;
}
i++;
}
else
valid = 0;
break;
case CommandRaw: // Add raw bayer data in metadata
state->wantRAW = 1;
break;
case CommandOutput: // output filename
{
int len = strlen(argv[i + 1]);
if (len)
{
state->filename = malloc(len + 10); // leave enough space for any timelapse generated changes to filename
vcos_assert(state->filename);
if (state->filename)
strncpy(state->filename, argv[i + 1], len);
i++;
}
else
valid = 0;
break;
}
case CommandLink :
{
int len = strlen(argv[i+1]);
if (len)
{
state->linkname = malloc(len + 10);
vcos_assert(state->linkname);
if (state->linkname)
strncpy(state->linkname, argv[i + 1], len);
i++;
}
else
valid = 0;
break;
}
case CommandVerbose: // display lots of data during run
state->verbose = 1;
break;
case CommandTimeout: // Time to run viewfinder for before taking picture, in seconds
{
if (sscanf(argv[i + 1], "%u", &state->timeout) == 1)
{
// TODO : What limits do we need for timeout?
i++;
}
else
valid = 0;
break;
}
case CommandThumbnail : // thumbnail parameters - needs string "x:y:quality"
sscanf(argv[i + 1], "%d:%d:%d", &state->thumbnailConfig.width,&state->thumbnailConfig.height,
&state->thumbnailConfig.quality);
i++;
break;
case CommandDemoMode: // Run in demo mode - no capture
{
// Demo mode might have a timing parameter
// so check if a) we have another parameter, b) its not the start of the next option
if (i + 1 < argc && argv[i+1][0] != '-')
{
if (sscanf(argv[i + 1], "%u", &state->demoInterval) == 1)
{
// TODO : What limits do we need for timeout?
state->demoMode = 1;
i++;
}
else
valid = 0;
}
else
{
state->demoMode = 1;
}
break;
}
case CommandEncoding :
{
int len = strlen(argv[i + 1]);
valid = 0;
if (len)
{
int j;
for (j=0;j<encoding_xref_size;j++)
{
if (strcmp(encoding_xref[j].format, argv[i+1]) == 0)
{
state->encoding = encoding_xref[j].encoding;
valid = 1;
i++;
break;
}
}
}
break;
}
case CommandExifTag:
store_exif_tag(state, argv[i+1]);
i++;
break;
case CommandTimelapse:
if (sscanf(argv[i + 1], "%u", &state->timelapse) != 1)
valid = 0;
else
i++;
break;
case CommandFullResPreview:
state->fullResPreview = 1;
break;
default:
{
// Try parsing for any image specific parameters
// result indicates how many parameters were used up, 0,1,2
// but we adjust by -1 as we have used one already
const char *second_arg = (i + 1 < argc) ? argv[i + 1] : NULL;
int parms_used = raspicamcontrol_parse_cmdline(&state->camera_parameters, &argv[i][1], second_arg);
// Still unused, try preview options
if (!parms_used)
parms_used = raspipreview_parse_cmdline(&state->preview_parameters, &argv[i][1], second_arg);
// If no parms were used, this must be a bad parameters
if (!parms_used)
valid = 0;
else
i += parms_used - 1;
break;
}
}
}
if (!valid)
{
fprintf(stderr, "Invalid command line option (%s)\n", argv[i]);
return 1;
}
return 0;
}
/**
* 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;
}
/**
* Parse the incoming command line and put resulting parameters in to the state
*
* @param argc Number of arguments in command line
* @param argv Array of pointers to strings from command line
* @param state Pointer to state structure to assign any discovered parameters to
* @return 0 if failed for some reason, non-0 otherwise
*/
static int parse_cmdline(int argc, const char **argv, RASPISTILLYUV_STATE *state)
{
// Parse the command line arguments.
// We are looking for --<something> or -<abreviation of something>
int valid = 1; // set 0 if we have a bad parameter
int i;
for (i = 1; i < argc && valid; i++)
{
int command_id, num_parameters;
if (!argv[i])
continue;
if (argv[i][0] != '-')
{
valid = 0;
continue;
}
// Assume parameter is valid until proven otherwise
valid = 1;
command_id = raspicli_get_command_id(cmdline_commands, cmdline_commands_size, &argv[i][1], &num_parameters);
// If we found a command but are missing a parameter, continue (and we will drop out of the loop)
if (command_id != -1 && num_parameters > 0 && (i + 1 >= argc) )
continue;
// We are now dealing with a command line option
switch (command_id)
{
case CommandHelp:
display_valid_parameters();
break;
case CommandWidth: // Width > 0
if (sscanf(argv[i + 1], "%u", &state->width) != 1)
valid = 0;
else
i++;
break;
case CommandHeight: // Height > 0
if (sscanf(argv[i + 1], "%u", &state->height) != 1)
valid = 0;
else
i++;
break;
case CommandOutput: // output filename
{
int len = strlen(argv[i + 1]);
if (len)
{
state->filename = malloc(len + 1);
vcos_assert(state->filename);
if (state->filename)
strncpy(state->filename, argv[i + 1], len);
i++;
}
else
valid = 0;
break;
}
case CommandVerbose: // display lots of data during run
state->verbose = 1;
break;
case CommandTimeout: // Time to run viewfinder for before taking picture, in seconds
{
if (sscanf(argv[i + 1], "%u", &state->timeout) == 1)
{
// TODO : What limits do we need for timeout?
i++;
}
else
valid = 0;
break;
}
default:
{
// Try parsing for any image specific parameters
// result indicates how many parameters were used up, 0,1,2
// but we adjust by -1 as we have used one already
const char *second_arg = (i + 1 < argc) ? argv[i + 1] : NULL;
int parms_used = (raspicamcontrol_parse_cmdline(&state->camera_parameters, &argv[i][1], second_arg));
// Still unused, try preview options
if (!parms_used)
parms_used = raspipreview_parse_cmdline(&state->preview_parameters, &argv[i][1], second_arg);
// If no parms were used, this must be a bad parameters
if (!parms_used)
valid = 0;
else
i += parms_used - 1;
break;
}
}
}
if (!valid)
{
printf("Invalid command line option (%s)\n", argv[i]);
return 1;
}
return 0;
}
/**
* 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;
}
/**
* Parse the incoming command line and put resulting parameters in to the state
*
* @param argc Number of arguments in command line
* @param argv Array of pointers to strings from command line
* @param state Pointer to state structure to assign any discovered parameters to
* @return Non-0 if failed for some reason, 0 otherwise
*/
static int parse_cmdline(int argc, const char **argv, RASPIVID_STATE *state)
{
// Parse the command line arguments.
// We are looking for --<something> or -<abreviation of something>
int valid = 1;
int i;
for (i = 1; i < argc && valid; i++)
{
int command_id, num_parameters;
if (!argv[i])
continue;
if (argv[i][0] != '-')
{
valid = 0;
continue;
}
// Assume parameter is valid until proven otherwise
valid = 1;
command_id = raspicli_get_command_id(cmdline_commands, cmdline_commands_size, &argv[i][1], &num_parameters);
// If we found a command but are missing a parameter, continue (and we will drop out of the loop)
if (command_id != -1 && num_parameters > 0 && (i + 1 >= argc) )
continue;
// We are now dealing with a command line option
switch (command_id)
{
case CommandHelp:
display_valid_parameters(basename(argv[0]));
return -1;
case CommandWidth: // Width > 0
if (sscanf(argv[i + 1], "%u", &state->width) != 1)
valid = 0;
else
i++;
break;
case CommandHeight: // Height > 0
if (sscanf(argv[i + 1], "%u", &state->height) != 1)
valid = 0;
else
i++;
break;
case CommandBitrate: // 1-100
if (sscanf(argv[i + 1], "%u", &state->bitrate) == 1)
{
if (state->bitrate > MAX_BITRATE)
{
state->bitrate = MAX_BITRATE;
}
i++;
}
else
valid = 0;
break;
case CommandOutput: // output filename
{
int len = strlen(argv[i + 1]);
if (len)
{
state->filename = malloc(len + 1);
vcos_assert(state->filename);
if (state->filename)
strncpy(state->filename, argv[i + 1], len);
i++;
}
else
valid = 0;
break;
}
case CommandVerbose: // display lots of data during run
state->verbose = 1;
break;
case CommandTimeout: // Time to run viewfinder/capture
{
if (sscanf(argv[i + 1], "%u", &state->timeout) == 1)
{
// TODO : What limits do we need for timeout?
i++;
}
else
valid = 0;
break;
}
case CommandDemoMode: // Run in demo mode - no capture
{
// Demo mode might have a timing parameter
// so check if a) we have another parameter, b) its not the start of the next option
if (i + 1 < argc && argv[i+1][0] != '-')
{
if (sscanf(argv[i + 1], "%u", &state->demoInterval) == 1)
{
// TODO : What limits do we need for timeout?
if (state->demoInterval == 0)
state->demoInterval = 250; // ms
state->demoMode = 1;
i++;
}
else
valid = 0;
}
else
{
state->demoMode = 1;
}
break;
}
case CommandFramerate: // fps to record
{
if (sscanf(argv[i + 1], "%u", &state->framerate) == 1)
{
// TODO : What limits do we need for fps 1 - 30 - 120??
i++;
}
else
valid = 0;
break;
}
case CommandPreviewEnc:
state->immutableInput = 0;
break;
case CommandIntraPeriod: // key frame rate
{
if (sscanf(argv[i + 1], "%u", &state->intraperiod) == 1)
i++;
else
valid = 0;
break;
}
default:
{
// Try parsing for any image specific parameters
// result indicates how many parameters were used up, 0,1,2
// but we adjust by -1 as we have used one already
const char *second_arg = (i + 1 < argc) ? argv[i + 1] : NULL;
int parms_used = (raspicamcontrol_parse_cmdline(&state->camera_parameters, &argv[i][1], second_arg));
// Still unused, try preview options
if (!parms_used)
parms_used = raspipreview_parse_cmdline(&state->preview_parameters, &argv[i][1], second_arg);
// If no parms were used, this must be a bad parameters
if (!parms_used)
valid = 0;
else
i += parms_used - 1;
break;
}
}
}
if (!valid)
{
fprintf(stderr, "Invalid command line option (%s)\n", argv[i]);
return 1;
}
// Always disable verbose if output going to stdout
if (state->filename && state->filename[0] == '-')
{
state->verbose = 0;
}
return 0;
}
/**
* Parse a possible command pair - command and parameter
* @param arg1 Command
* @param arg2 Parameter (could be NULL)
* @return How many parameters were used, 0,1,2
*/
int raspicommonsettings_parse_cmdline(RASPICOMMONSETTINGS_PARAMETERS *state, const char *arg1, const char *arg2, void (*app_help)(char*))
{
int command_id, used = 0, num_parameters;
if (!arg1)
return 0;
command_id = raspicli_get_command_id(cmdline_commands, cmdline_commands_size, arg1, &num_parameters);
// If invalid command, or we are missing a parameter, drop out
if (command_id==-1 || (command_id != -1 && num_parameters > 0 && arg2 == NULL))
return 0;
switch (command_id)
{
case CommandHelp:
{
display_valid_parameters(basename(get_app_name()), app_help);
exit(0);
break;
}
case CommandWidth: // Width > 0
if (sscanf(arg2, "%u", &state->width) == 1)
used = 2;
break;
case CommandHeight: // Height > 0
if (sscanf(arg2, "%u", &state->height) == 1)
used = 2;
break;
case CommandOutput: // output filename
{
int len = strlen(arg2);
if (len)
{
// Ensure that any %<char> is either %% or %d.
const char *percent = arg2;
while(*percent && (percent=strchr(percent, '%')) != NULL)
{
int digits=0;
percent++;
while(isdigit(*percent))
{
percent++;
digits++;
}
if(!((*percent == '%' && !digits) || *percent == 'd'))
{
used = 0;
fprintf(stderr, "Filename contains %% characters, but not %%d or %%%% - sorry, will fail\n");
break;
}
percent++;
}
state->filename = malloc(len + 10); // leave enough space for any timelapse generated changes to filename
vcos_assert(state->filename);
if (state->filename)
strncpy(state->filename, arg2, len+1);
used = 2;
}
else
used = 0;
break;
}
case CommandVerbose: // display lots of data during run
state->verbose = 1;
used = 1;
break;
case CommandCamSelect: //Select camera input port
{
if (sscanf(arg2, "%u", &state->cameraNum) == 1)
used = 2;
break;
}
case CommandSensorMode:
{
if (sscanf(arg2, "%u", &state->sensor_mode) == 1)
used = 2;
break;
}
case CommandGpsd:
state->gps = 1;
used = 1;
break;
}
return used;
}
/**
* 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;
}
