static MMAL_STATUS_T mmal_port_connection_enable(MMAL_PORT_T *port, MMAL_PORT_T *connected_port)
{
MMAL_PORT_T *output = port->type == MMAL_PORT_TYPE_OUTPUT ? port : connected_port;
MMAL_PORT_T *input = connected_port->type == MMAL_PORT_TYPE_INPUT ? connected_port : port;
MMAL_PORT_T *pool_port = (output->capabilities & MMAL_PORT_CAPABILITY_ALLOCATION) ? output : input;
MMAL_PORT_PRIVATE_CORE_T *pool_core = pool_port->priv->core;
uint32_t buffer_size, buffer_num;
MMAL_POOL_T *pool;
/* At this point both ports hold the connection lock */
/* Ensure that the buffer numbers and sizes used are the maxima between connected ports. */
buffer_num = MMAL_MAX(port->buffer_num, connected_port->buffer_num);
buffer_size = MMAL_MAX(port->buffer_size, connected_port->buffer_size);
port->buffer_num = connected_port->buffer_num = buffer_num;
port->buffer_size = connected_port->buffer_size = buffer_size;
if (output->capabilities & MMAL_PORT_CAPABILITY_PASSTHROUGH)
buffer_size = 0;
if (!port->priv->core->core_owns_connection)
return MMAL_SUCCESS;
pool = mmal_port_pool_create(pool_port, buffer_num, buffer_size);
if (!pool)
{
LOG_ERROR("failed to create pool for connection");
return MMAL_ENOMEM;
}
pool_core->pool_for_connection = pool;
mmal_pool_callback_set(pool, mmal_port_connected_pool_cb, output);
return MMAL_SUCCESS;
}
/* Connect two mmal components which will transer data via an ARM callback.
| A components output data may be processed or altered before being
| passed to a components input port. The camera out object will be passed
| as userdata to the callback as it must have the callback_port_in and
| callback_pool_in values.
*/
boolean
ports_callback_connect(CameraObject *out, int port_num,
CameraObject *in, void callback())
{
MMAL_PORT_T *callback_port_in;
MMAL_STATUS_T status;
boolean result;
if (!out->component || !in->component)
return FALSE;
callback_port_in = in->component->input[0];
/* Create the buffer pool and queue for the input port the callback
| will send buffers to after processing. Input port is likely an encoder.
*/
out->callback_port_in = callback_port_in;
out->callback_pool_in = mmal_port_pool_create(callback_port_in,
callback_port_in->buffer_num, callback_port_in->buffer_size);
if ((status = mmal_port_enable(callback_port_in, input_buffer_callback))
!= MMAL_SUCCESS)
{
log_printf(
"ports_callback_connect %s: mmal_port_enable failed. Status %s\n",
in->name, mmal_status[status]);
result = FALSE;
}
else
result = out_port_callback(out, port_num, callback);
return result;
}
/* This is a camera path endpoint callback setup for GPU encoder data
| to the ARM. The callback should handle final disposition of encoder data.
*/
boolean
out_port_callback(CameraObject *obj, int port_num, void callback())
{
MMAL_PORT_T *port;
MMAL_STATUS_T status;
char *msg = "mmal_port_enable";
int i, n;
if (!obj->component)
return FALSE;
port = obj->component->output[port_num];
/* Create an initial queue of buffers for the output port.
| FIXME? Can't handle callbacks for more than one splitter port
| because I only have one pool_out per component.
*/
if (!obj->pool_out)
{
if ((obj->pool_out = mmal_port_pool_create(port,
port->buffer_num, port->buffer_size)) == NULL)
{
log_printf("out_port_callback %s: mmal_port_pool_create failed.\n",
obj->name);
return FALSE;
}
}
/* Connect the callback and initialize buffer pool of data that will
| be sent to the callback.
*/
if ((status = mmal_port_enable(port, callback)) == MMAL_SUCCESS)
{
obj->port_out = port;
port->userdata = (struct MMAL_PORT_USERDATA_T *) obj;
/* Send all buffers in the created queue to the GPU output port.
| These buffers will then be delivered back to the ARM with filled
| GPU data via the above callback where we can process the data
| and then resend the buffer back to the port to be refilled.
*/
msg = "mmal_port_send_buffer";
n = mmal_queue_length(obj->pool_out->queue);
for (i = 0; i < n; ++i)
{
status = mmal_port_send_buffer(port,
mmal_queue_get(obj->pool_out->queue));
if (status != MMAL_SUCCESS)
break;
}
}
if (status != MMAL_SUCCESS)
{
log_printf("out_port_callback %s: %s failed. Status %s\n",
obj->name, msg, mmal_status[status]);
return FALSE;
}
return TRUE;
}
MMAL_POOL_T* CCameraOutput::EnablePortCallbackAndCreateBufferPool(MMAL_PORT_T* port, MMAL_PORT_BH_CB_T cb, int buffer_count)
{
MMAL_STATUS_T status;
MMAL_POOL_T* buffer_pool = 0;
//setup video port buffer and a pool to hold them
port->buffer_num = buffer_count;
port->buffer_size = port->buffer_size_recommended;
printf("Creating pool with %d buffers of size %d\n", port->buffer_num, port->buffer_size);
buffer_pool = mmal_port_pool_create(port, port->buffer_num, port->buffer_size);
if (!buffer_pool)
{
printf("Couldn't create video buffer pool\n");
goto error;
}
//enable the port and hand it the callback
port->userdata = (struct MMAL_PORT_USERDATA_T *)this;
status = mmal_port_enable(port, cb);
if (status != MMAL_SUCCESS)
{
printf("Failed to set video buffer callback\n");
goto error;
}
//send all the buffers in our pool to the video port ready for use
{
int num = mmal_queue_length(buffer_pool->queue);
int q;
for (q=0;q<num;q++)
{
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(buffer_pool->queue);
if (!buffer)
{
printf("Unable to get a required buffer %d from pool queue\n", q);
goto error;
}
else if (mmal_port_send_buffer(port, buffer)!= MMAL_SUCCESS)
{
printf("Unable to send a buffer to port (%d)\n", q);
goto error;
}
}
}
return buffer_pool;
error:
if(buffer_pool)
mmal_port_pool_destroy(port,buffer_pool);
return NULL;
}
int Private_Impl_Still::createEncoder() {
if ( mmal_component_create ( MMAL_COMPONENT_DEFAULT_IMAGE_ENCODER, &encoder ) ) {
cout << API_NAME << ": Could not create encoder component.\n";
destroyEncoder();
return -1;
}
if ( !encoder->input_num || !encoder->output_num ) {
cout << API_NAME << ": Encoder does not have input/output ports.\n";
destroyEncoder();
return -1;
}
encoder_input_port = encoder->input[0];
encoder_output_port = encoder->output[0];
mmal_format_copy ( encoder_output_port->format, encoder_input_port->format );
encoder_output_port->format->encoding = convertEncoding ( encoding ); // Set output encoding
encoder_output_port->buffer_size = encoder_output_port->buffer_size_recommended;
if ( encoder_output_port->buffer_size < encoder_output_port->buffer_size_min )
encoder_output_port->buffer_size = encoder_output_port->buffer_size_min;
encoder_output_port->buffer_num = encoder_output_port->buffer_num_recommended;
if ( encoder_output_port->buffer_num < encoder_output_port->buffer_num_min )
encoder_output_port->buffer_num = encoder_output_port->buffer_num_min;
if ( mmal_port_format_commit ( encoder_output_port ) ) {
cout << API_NAME << ": Could not set format on encoder output port.\n";
destroyEncoder();
return -1;
}
if ( mmal_component_enable ( encoder ) ) {
cout << API_NAME << ": Could not enable encoder component.\n";
destroyEncoder();
return -1;
}
if ( ! ( encoder_pool = mmal_port_pool_create ( encoder_output_port, encoder_output_port->buffer_num, encoder_output_port->buffer_size ) ) ) {
cout << API_NAME << ": Failed to create buffer header pool for encoder output port.\n";
destroyEncoder();
return -1;
}
return 0;
}
void MmalVideoCamera::createBufferPool()
{
if (m_videoPort == NULL)
{
throw Exception("Target port is not set.");
}
// Create pool of buffer headers for the output port to consume
m_videoPort->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
m_videoPort->buffer_size = m_videoPort->buffer_size_recommended;
m_pool = mmal_port_pool_create(m_videoPort, MAX(m_videoPort->buffer_num, NUM_IMAGE_BUFFERS), m_videoPort->buffer_size);
if (m_pool == NULL)
{
throw Exception("Failed to create buffer header pool for encoder output port");
}
// Set the userdata
m_callbackData->pool = m_pool;
m_callbackData->acquire = false;
m_videoPort->userdata = (struct MMAL_PORT_USERDATA_T *) m_callbackData;
// Enable the encoder output port and tell it its callback function
if (mmal_port_enable(m_videoPort, EncoderBufferCallback) != MMAL_SUCCESS)
{
throw Exception("Error enabling the encoder buffer callback");
}
else
{
m_videoPortEnabled = true;
}
// Send all the buffers to the encoder output port
sendBuffers();
// Start the capture
if (mmal_port_parameter_set_boolean(m_videoPort, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
{
throw Exception("Error starting the camera capture");
}
}
/**
* Create the encoder component, set up its ports
*
* @param state Pointer to state control struct
*
* @return 0 if failed, pointer to component if successful
*
*/
static MMAL_STATUS_T create_encoder_component(RASPIVID_STATE *state)
{
MMAL_COMPONENT_T *encoder = 0;
MMAL_PORT_T *encoder_input = NULL, *encoder_output = NULL;
MMAL_STATUS_T status;
MMAL_POOL_T *pool;
//printf("point1\n");
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_ENCODER, &encoder);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to create video encoder component");
goto error;
}
if (!encoder->input_num || !encoder->output_num)
{
status = MMAL_ENOSYS;
vcos_log_error("Video encoder doesn't have input/output ports");
goto error;
}
encoder_input = encoder->input[0];
encoder_output = encoder->output[0];
// We want same format on input and output
mmal_format_copy(encoder_output->format, encoder_input->format);
// Only supporting H264 at the moment
encoder_output->format->encoding = MMAL_ENCODING_H264;
encoder_output->format->bitrate = state->bitrate;
encoder_output->buffer_size = encoder_output->buffer_size_recommended;
if (encoder_output->buffer_size < encoder_output->buffer_size_min)
encoder_output->buffer_size = encoder_output->buffer_size_min;
encoder_output->buffer_num = encoder_output->buffer_num_recommended;
if (encoder_output->buffer_num < encoder_output->buffer_num_min)
encoder_output->buffer_num = encoder_output->buffer_num_min;
// We need to set the frame rate on output to 0, to ensure it gets
// updated correctly from the input framerate when port connected
encoder_output->format->es->video.frame_rate.num = 0;
encoder_output->format->es->video.frame_rate.den = 1;
// Commit the port changes to the output port
status = mmal_port_format_commit(encoder_output);
//printf("point2\n");
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set format on video encoder output port");
goto error;
}
// Set the rate control parameter
if (0)
{
MMAL_PARAMETER_VIDEO_RATECONTROL_T param = {{ MMAL_PARAMETER_RATECONTROL, sizeof(param)}, MMAL_VIDEO_RATECONTROL_DEFAULT};
status = mmal_port_parameter_set(encoder_output, ¶m.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set ratecontrol");
goto error;
}
}
if (state->intraperiod)
{
MMAL_PARAMETER_UINT32_T param = {{ MMAL_PARAMETER_INTRAPERIOD, sizeof(param)}, state->intraperiod};
status = mmal_port_parameter_set(encoder_output, ¶m.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set intraperiod");
goto error;
}
}
if (state->quantisationParameter)
{
MMAL_PARAMETER_UINT32_T param = {{ MMAL_PARAMETER_VIDEO_ENCODE_INITIAL_QUANT, sizeof(param)}, state->quantisationParameter};
status = mmal_port_parameter_set(encoder_output, ¶m.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set initial QP");
goto error;
}
MMAL_PARAMETER_UINT32_T param2 = {{ MMAL_PARAMETER_VIDEO_ENCODE_MIN_QUANT, sizeof(param)}, state->quantisationParameter};
status = mmal_port_parameter_set(encoder_output, ¶m2.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set min QP");
goto error;
}
MMAL_PARAMETER_UINT32_T param3 = {{ MMAL_PARAMETER_VIDEO_ENCODE_MAX_QUANT, sizeof(param)}, state->quantisationParameter};
status = mmal_port_parameter_set(encoder_output, ¶m3.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set max QP");
goto error;
}
}
{
MMAL_PARAMETER_VIDEO_PROFILE_T param;
param.hdr.id = MMAL_PARAMETER_PROFILE;
param.hdr.size = sizeof(param);
//param.profile[0].profile = state->profile;
param.profile[0].profile = MMAL_VIDEO_PROFILE_H264_HIGH;
param.profile[0].level = MMAL_VIDEO_LEVEL_H264_4; // This is the only value supported
status = mmal_port_parameter_set(encoder_output, ¶m.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set H264 profile");
goto error;
}
}
if (mmal_port_parameter_set_boolean(encoder_input, MMAL_PARAMETER_VIDEO_IMMUTABLE_INPUT, state->immutableInput) != MMAL_SUCCESS)
{
vcos_log_error("Unable to set immutable input flag");
// Continue rather than abort..
}
//set INLINE HEADER flag to generate SPS and PPS for every IDR if requested
if (mmal_port_parameter_set_boolean(encoder_output, MMAL_PARAMETER_VIDEO_ENCODE_INLINE_HEADER, state->bInlineHeaders) != MMAL_SUCCESS)
{
vcos_log_error("failed to set INLINE HEADER FLAG parameters");
// Continue rather than abort..
}
//set INLINE VECTORS flag to request motion vector estimates
if (mmal_port_parameter_set_boolean(encoder_output, MMAL_PARAMETER_VIDEO_ENCODE_INLINE_VECTORS, state->inlineMotionVectors) != MMAL_SUCCESS)
{
vcos_log_error("failed to set INLINE VECTORS parameters");
// Continue rather than abort..
}
// Enable component
status = mmal_component_enable(encoder);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to enable video encoder component");
goto error;
}
/* Create pool of buffer headers for the output port to consume */
pool = mmal_port_pool_create(encoder_output, encoder_output->buffer_num, encoder_output->buffer_size);
if (!pool)
{
vcos_log_error("Failed to create buffer header pool for encoder output port %s", encoder_output->name);
goto error;
}
state->encoder_pool = pool;
state->encoder_component = encoder;
/*if (state->verbose)
fprintf(stderr, "Encoder component done\n");
*/
return status;
error:
if (encoder)
mmal_component_destroy(encoder);
state->encoder_component = NULL;
return status;
}
int main(int argc, char **argv)
{
MMAL_COMPONENT_T *camera =0;
MMAL_COMPONENT_T *preview=0;
MMAL_COMPONENT_T *encoder=0;
MMAL_CONNECTION_T *preview_conn=0;
MMAL_CONNECTION_T *encoder_conn=0;
USERDATA_T callback_data;
// bcm should be initialized before any GPU call is made
bcm_host_init();
setNonDefaultOptions(argc, argv);
// Open file to save the video
open_new_file_handle(&callback_data, output_file_name);
fprintf(stderr, "Output Filename: %s\n", output_file_name);
// Create Camera, set default values and enable it
vcos_assert((mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera) == MMAL_SUCCESS)
&& "Failed creating camera component");
vcos_assert((set_camera_component_defaults(camera)) == MMAL_SUCCESS
&& "Failed setting camera components default values");
vcos_assert((mmal_component_enable(camera) == MMAL_SUCCESS)
&& "Failed to enable camera component");
// Create Preview, set default values and enable it
vcos_assert((mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_RENDERER, &preview) == MMAL_SUCCESS)
&& "Failed creating preview component");
vcos_assert((set_preview_component_defaults(preview) == MMAL_SUCCESS)
&& "Failed setting preview components default values");
vcos_assert((mmal_component_enable(preview) == MMAL_SUCCESS)
&& "Failed to enable camera component");
// Create Encoder, set defaults, enable it and create encoder pool
vcos_assert((mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_ENCODER, &encoder) == MMAL_SUCCESS)
&& "Failed to create encoder component");
vcos_assert((encoder->input_num && encoder->output_num)
&& "Video encoder does not have input/output ports\n");
set_encoder_component_defaults(encoder);
vcos_assert((mmal_component_enable(encoder) == MMAL_SUCCESS)
&& "Failed enabling encoder component");
callback_data.pool = (MMAL_POOL_T *)mmal_port_pool_create(encoder->output[0],
encoder->output[0]->buffer_num, encoder->output[0]->buffer_size);
vcos_assert(callback_data.pool && "Failed creating encoder pool\n");
// Setup connections
vcos_assert((mmal_connection_create(&preview_conn, camera->output[0], preview->input[0],
MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT) == MMAL_SUCCESS)
&& "Failed stablishing connection between camera output 0 and preview");
vcos_assert((mmal_connection_enable(preview_conn) == MMAL_SUCCESS)
&& "Failed enabling connection between camera output 0 and preview");
vcos_assert((mmal_connection_create(&encoder_conn, camera->output[1], encoder->input[0],
// MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT) == MMAL_SUCCESS)
MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT) == MMAL_SUCCESS)
&& "Failed creating encoder connection to capture (camera output 1)");
vcos_assert((mmal_connection_enable(encoder_conn) == MMAL_SUCCESS)
&& "Failed enabling encoder connection to capture (campera output 1)");
encoder_conn->callback = connection_video2encoder_callback;
// Set callback and enable encoder port
encoder->output[0]->userdata = (struct MMAL_PORT_USERDATA_T *)&callback_data;
vcos_assert(MMAL_SUCCESS == mmal_port_enable(encoder->output[0], encoder_callback));
// Send the buffer to encode output port
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(callback_data.pool->queue);
vcos_assert((mmal_port_send_buffer(encoder->output[0], buffer)== MMAL_SUCCESS)
&& "Unable to send buffer to encoder output port");
vcos_assert((mmal_port_parameter_set_boolean(camera->output[1], MMAL_PARAMETER_CAPTURE, 1) == MMAL_SUCCESS)
&& "Unable to set camera->output[1] capture parameter");
consume_queue_on_connection(encoder_conn->out, encoder_conn->pool->queue);
while(1)
{
vcos_sleep(1000); // wait for exit call
if (exit_prog){
vcos_sleep(500); // exit called, wait for all buffers be flushed
break;
}
}
return 0;
}
static int change_output_format(decoder_t *dec)
{
MMAL_PARAMETER_VIDEO_INTERLACE_TYPE_T interlace_type;
decoder_sys_t *sys = dec->p_sys;
MMAL_STATUS_T status;
int pool_size;
int ret = 0;
if (atomic_load(&sys->started)) {
mmal_format_full_copy(sys->output->format, sys->output_format);
status = mmal_port_format_commit(sys->output);
if (status != MMAL_SUCCESS) {
msg_Err(dec, "Failed to commit output format (status=%"PRIx32" %s)",
status, mmal_status_to_string(status));
ret = -1;
goto port_reset;
}
goto apply_fmt;
}
port_reset:
msg_Dbg(dec, "%s: Do full port reset", __func__);
status = mmal_port_disable(sys->output);
if (status != MMAL_SUCCESS) {
msg_Err(dec, "Failed to disable output port (status=%"PRIx32" %s)",
status, mmal_status_to_string(status));
ret = -1;
goto out;
}
mmal_format_full_copy(sys->output->format, sys->output_format);
status = mmal_port_format_commit(sys->output);
if (status != MMAL_SUCCESS) {
msg_Err(dec, "Failed to commit output format (status=%"PRIx32" %s)",
status, mmal_status_to_string(status));
ret = -1;
goto out;
}
if (sys->opaque) {
sys->output->buffer_num = NUM_ACTUAL_OPAQUE_BUFFERS;
pool_size = NUM_DECODER_BUFFER_HEADERS;
} else {
sys->output->buffer_num = __MAX(sys->output->buffer_num_recommended,
MIN_NUM_BUFFERS_IN_TRANSIT);
pool_size = sys->output->buffer_num;
}
sys->output->buffer_size = sys->output->buffer_size_recommended;
status = mmal_port_enable(sys->output, output_port_cb);
if (status != MMAL_SUCCESS) {
msg_Err(dec, "Failed to enable output port (status=%"PRIx32" %s)",
status, mmal_status_to_string(status));
ret = -1;
goto out;
}
if (!atomic_load(&sys->started)) {
if (!sys->opaque) {
sys->output_pool = mmal_port_pool_create(sys->output, pool_size, 0);
msg_Dbg(dec, "Created output pool with %d pictures", sys->output_pool->headers_num);
}
atomic_store(&sys->started, true);
/* we need one picture from vout for each buffer header on the output
* port */
dec->i_extra_picture_buffers = pool_size;
/* remove what VLC core reserves as it is part of the pool_size
* already */
if (dec->fmt_in.i_codec == VLC_CODEC_H264)
dec->i_extra_picture_buffers -= 19;
else
dec->i_extra_picture_buffers -= 3;
msg_Dbg(dec, "Request %d extra pictures", dec->i_extra_picture_buffers);
}
apply_fmt:
dec->fmt_out.video.i_width = sys->output->format->es->video.width;
dec->fmt_out.video.i_height = sys->output->format->es->video.height;
dec->fmt_out.video.i_x_offset = sys->output->format->es->video.crop.x;
dec->fmt_out.video.i_y_offset = sys->output->format->es->video.crop.y;
dec->fmt_out.video.i_visible_width = sys->output->format->es->video.crop.width;
dec->fmt_out.video.i_visible_height = sys->output->format->es->video.crop.height;
dec->fmt_out.video.i_sar_num = sys->output->format->es->video.par.num;
dec->fmt_out.video.i_sar_den = sys->output->format->es->video.par.den;
dec->fmt_out.video.i_frame_rate = sys->output->format->es->video.frame_rate.num;
dec->fmt_out.video.i_frame_rate_base = sys->output->format->es->video.frame_rate.den;
/* Query interlaced type */
interlace_type.hdr.id = MMAL_PARAMETER_VIDEO_INTERLACE_TYPE;
interlace_type.hdr.size = sizeof(MMAL_PARAMETER_VIDEO_INTERLACE_TYPE_T);
status = mmal_port_parameter_get(sys->output, &interlace_type.hdr);
if (status != MMAL_SUCCESS) {
msg_Warn(dec, "Failed to query interlace type from decoder output port (status=%"PRIx32" %s)",
status, mmal_status_to_string(status));
} else {
sys->b_progressive = (interlace_type.eMode == MMAL_InterlaceProgressive);
sys->b_top_field_first = sys->b_progressive ? true :
(interlace_type.eMode == MMAL_InterlaceFieldsInterleavedUpperFirst);
msg_Dbg(dec, "Detected %s%s video (%d)",
sys->b_progressive ? "progressive" : "interlaced",
sys->b_progressive ? "" : (sys->b_top_field_first ? " tff" : " bff"),
interlace_type.eMode);
}
out:
mmal_format_free(sys->output_format);
sys->output_format = NULL;
return ret;
}
void ofxRaspicam::create_encoder_component()
{
ofLogVerbose() << "create_encoder_component START";
MMAL_STATUS_T status;
MMAL_POOL_T *pool;
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_IMAGE_ENCODER, &encoder);
if (status != MMAL_SUCCESS)
{
ofLogVerbose() << "create JPEG encoder component FAIL error: " << status;
}else
{
ofLogVerbose() << "create JPEG encoder component PASS";
}
if (!encoder->input_num || !encoder->output_num)
{
ofLogVerbose() << "JPEG encoder doesn't have input/output ports";
}
encoder_input_port = encoder->input[0];
encoder_output_port = encoder->output[0];
// We want same format on input and output
mmal_format_copy(encoder_output_port->format, encoder_input_port->format);
// Specify out output format
encoder_output_port->format->encoding = photo.encoding;
encoder_output_port->buffer_size = encoder_output_port->buffer_size_recommended;
if (encoder_output_port->buffer_size < encoder_output_port->buffer_size_min)
{
encoder_output_port->buffer_size = encoder_output_port->buffer_size_min;
}
encoder_output_port->buffer_num = encoder_output_port->buffer_num_recommended;
if (encoder_output_port->buffer_num < encoder_output_port->buffer_num_min)
{
encoder_output_port->buffer_num = encoder_output_port->buffer_num_min;
}
// Commit the port changes to the output port
status = mmal_port_format_commit(encoder_output_port);
if (status != MMAL_SUCCESS)
{
ofLogVerbose() << "set format on video encoder output port FAIL, error: " << status;
}else
{
ofLogVerbose() << "set format on video encoder output port PASS";
}
// Set the JPEG quality level
status = mmal_port_parameter_set_uint32(encoder_output_port, MMAL_PARAMETER_JPEG_Q_FACTOR, photo.quality);
if (status != MMAL_SUCCESS)
{
ofLogVerbose() << "Set JPEG quality FAIL, error: " << status;
}else
{
ofLogVerbose() << "Set JPEG quality PASS";
}
// Enable component
status = mmal_component_enable(encoder);
if (status)
{
ofLogVerbose() << "Enable video encoder component FAIL, error: " << status;
}else
{
ofLogVerbose() << "Enable video encoder component PASS";
}
/* Create pool of buffer headers for the output port to consume */
pool = mmal_port_pool_create(encoder_output_port, encoder_output_port->buffer_num, encoder_output_port->buffer_size);
if (!pool)
{
ofLogVerbose() << "Failed to create buffer header pool for encoder output port " << encoder_output_port->name;
}else
{
ofLogVerbose() << "pool creation PASS";
}
photo.encoder_pool = pool;
photo.encoder_component = encoder;
ofLogVerbose() << "Encoder component done";
}
/**
* Create the encoder component, set up its ports
*
* @param state Pointer to state control struct. encoder_component member set to the created camera_component if successfull.
*
* @return a MMAL_STATUS, MMAL_SUCCESS if all OK, something else otherwise
*/
static MMAL_STATUS_T create_encoder_component(RASPISTILL_STATE *state)
{
MMAL_COMPONENT_T *encoder = 0;
MMAL_PORT_T *encoder_input = NULL, *encoder_output = NULL;
MMAL_STATUS_T status;
MMAL_POOL_T *pool;
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_IMAGE_ENCODER, &encoder);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to create JPEG encoder component");
goto error;
}
if (!encoder->input_num || !encoder->output_num)
{
status = MMAL_ENOSYS;
vcos_log_error("JPEG encoder doesn't have input/output ports");
goto error;
}
encoder_input = encoder->input[0];
encoder_output = encoder->output[0];
// We want same format on input and output
mmal_format_copy(encoder_output->format, encoder_input->format);
// Specify out output format
encoder_output->format->encoding = state->encoding;
encoder_output->buffer_size = encoder_output->buffer_size_recommended;
if (encoder_output->buffer_size < encoder_output->buffer_size_min)
encoder_output->buffer_size = encoder_output->buffer_size_min;
encoder_output->buffer_num = encoder_output->buffer_num_recommended;
if (encoder_output->buffer_num < encoder_output->buffer_num_min)
encoder_output->buffer_num = encoder_output->buffer_num_min;
// Commit the port changes to the output port
status = mmal_port_format_commit(encoder_output);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set format on video encoder output port");
goto error;
}
// Set the JPEG quality level
status = mmal_port_parameter_set_uint32(encoder_output, MMAL_PARAMETER_JPEG_Q_FACTOR, state->quality);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set JPEG quality");
goto error;
}
// Set up any required thumbnail
{
MMAL_PARAMETER_THUMBNAIL_CONFIG_T param_thumb = {{MMAL_PARAMETER_THUMBNAIL_CONFIGURATION, sizeof(MMAL_PARAMETER_THUMBNAIL_CONFIG_T)}, 0, 0, 0, 0};
if ( state->thumbnailConfig.width > 0 && state->thumbnailConfig.height > 0 )
{
// Have a valid thumbnail defined
param_thumb.enable = 1;
param_thumb.width = state->thumbnailConfig.width;
param_thumb.height = state->thumbnailConfig.height;
param_thumb.quality = state->thumbnailConfig.quality;
}
status = mmal_port_parameter_set(encoder->control, ¶m_thumb.hdr);
}
// Enable component
status = mmal_component_enable(encoder);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to enable video encoder component");
goto error;
}
/* Create pool of buffer headers for the output port to consume */
pool = mmal_port_pool_create(encoder_output, encoder_output->buffer_num, encoder_output->buffer_size);
if (!pool)
{
vcos_log_error("Failed to create buffer header pool for encoder output port %s", encoder_output->name);
}
state->encoder_pool = pool;
state->encoder_component = encoder;
if (state->verbose)
fprintf(stderr, "Encoder component done\n");
return status;
error:
if (encoder)
mmal_component_destroy(encoder);
return status;
}
bool CMMALRenderer::init_vout(ERenderFormat format)
{
CSingleLock lock(m_sharedSection);
bool formatChanged = m_format != format;
MMAL_STATUS_T status;
CLog::Log(LOGDEBUG, "%s::%s configured:%d format:%d->%d", CLASSNAME, __func__, m_bConfigured, m_format, format);
if (m_bMMALConfigured && formatChanged)
UnInitMMAL();
if (m_bMMALConfigured)
return true;
m_format = format;
if (m_format != RENDER_FMT_MMAL && m_format != RENDER_FMT_YUV420P)
return true;
/* Create video renderer */
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_RENDERER, &m_vout);
if(status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to create vout component (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
m_vout->control->userdata = (struct MMAL_PORT_USERDATA_T *)this;
status = mmal_port_enable(m_vout->control, vout_control_port_cb);
if(status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to enable vout control port (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
m_vout_input = m_vout->input[0];
m_vout_input->userdata = (struct MMAL_PORT_USERDATA_T *)this;
MMAL_ES_FORMAT_T *es_format = m_vout_input->format;
es_format->type = MMAL_ES_TYPE_VIDEO;
es_format->es->video.crop.width = m_sourceWidth;
es_format->es->video.crop.height = m_sourceHeight;
if (m_format == RENDER_FMT_MMAL)
{
es_format->encoding = MMAL_ENCODING_OPAQUE;
es_format->es->video.width = m_sourceWidth;
es_format->es->video.height = m_sourceHeight;
}
else if (m_format == RENDER_FMT_YUV420P)
{
const int pitch = ALIGN_UP(m_sourceWidth, 32);
const int aligned_height = ALIGN_UP(m_sourceHeight, 16);
es_format->encoding = MMAL_ENCODING_I420;
es_format->es->video.width = pitch;
es_format->es->video.height = aligned_height;
if (CONF_FLAGS_YUVCOEF_MASK(m_iFlags) == CONF_FLAGS_YUVCOEF_BT709)
es_format->es->video.color_space = MMAL_COLOR_SPACE_ITUR_BT709;
else if (CONF_FLAGS_YUVCOEF_MASK(m_iFlags) == CONF_FLAGS_YUVCOEF_BT601)
es_format->es->video.color_space = MMAL_COLOR_SPACE_ITUR_BT601;
else if (CONF_FLAGS_YUVCOEF_MASK(m_iFlags) == CONF_FLAGS_YUVCOEF_240M)
es_format->es->video.color_space = MMAL_COLOR_SPACE_SMPTE240M;
}
if (m_format == RENDER_FMT_MMAL)
{
status = mmal_port_parameter_set_boolean(m_vout_input, MMAL_PARAMETER_ZERO_COPY, MMAL_TRUE);
if (status != MMAL_SUCCESS)
CLog::Log(LOGERROR, "%s::%s Failed to enable zero copy mode on %s (status=%x %s)", CLASSNAME, __func__, m_vout_input->name, status, mmal_status_to_string(status));
}
status = mmal_port_format_commit(m_vout_input);
if (status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to commit vout input format (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
m_vout_input->buffer_num = std::max(m_vout_input->buffer_num_recommended, (uint32_t)m_NumYV12Buffers);
m_vout_input->buffer_size = m_vout_input->buffer_size_recommended;
status = mmal_port_enable(m_vout_input, vout_input_port_cb_static);
if(status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to vout enable input port (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
status = mmal_component_enable(m_vout);
if(status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to enable vout component (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
m_vout_input_pool = mmal_port_pool_create(m_vout_input , m_vout_input->buffer_num, m_vout_input->buffer_size);
if (!m_vout_input_pool)
{
CLog::Log(LOGERROR, "%s::%s Failed to create pool for decoder input port (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
return true;
}
/**
* Create the camera component, set up its ports
*
* @param state Pointer to state control struct
*
* @return 0 if failed, pointer to component if successful
*
*/
static MMAL_COMPONENT_T *create_camera_component(RASPIVID_STATE *state)
{
MMAL_COMPONENT_T *camera = 0;
MMAL_ES_FORMAT_T *format;
MMAL_PORT_T *preview_port = NULL, *video_port = NULL, *still_port = NULL;
MMAL_STATUS_T status;
/* Create the component */
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to create camera component");
goto error;
}
if (!camera->output_num)
{
vcos_log_error("Camera doesn't have output ports");
goto error;
}
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
// set up the camera configuration
{
MMAL_PARAMETER_CAMERA_CONFIG_T cam_config =
{
{ MMAL_PARAMETER_CAMERA_CONFIG, sizeof(cam_config) },
.max_stills_w = state->width,
.max_stills_h = state->height,
.stills_yuv422 = 0,
.one_shot_stills = 0,
.max_preview_video_w = state->width,
.max_preview_video_h = state->height,
.num_preview_video_frames = 3,
.stills_capture_circular_buffer_height = 0,
.fast_preview_resume = 0,
.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC
};
mmal_port_parameter_set(camera->control, &cam_config.hdr);
}
// Set the encode format on the video port
format = video_port->format;
format->encoding_variant = MMAL_ENCODING_I420;
format->encoding = MMAL_ENCODING_I420;
format->es->video.width = state->width;
format->es->video.height = state->height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->width;
format->es->video.crop.height = state->height;
format->es->video.frame_rate.num = state->framerate;
format->es->video.frame_rate.den = VIDEO_FRAME_RATE_DEN;
status = mmal_port_format_commit(video_port);
if (status)
{
vcos_log_error("camera video format couldn't be set");
goto error;
}
// PR : plug the callback to the video port
status = mmal_port_enable(video_port, video_buffer_callback);
if (status)
{
vcos_log_error("camera video callback2 error");
goto error;
}
// Ensure there are enough buffers to avoid dropping frames
if (video_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
video_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
// Set the encode format on the still port
format = still_port->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = state->width;
format->es->video.height = state->height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->width;
format->es->video.crop.height = state->height;
format->es->video.frame_rate.num = 1;
format->es->video.frame_rate.den = 1;
status = mmal_port_format_commit(still_port);
if (status)
{
vcos_log_error("camera still format couldn't be set");
goto error;
}
//PR : create pool of message on video port
MMAL_POOL_T *pool;
video_port->buffer_size = video_port->buffer_size_recommended;
video_port->buffer_num = video_port->buffer_num_recommended;
pool = mmal_port_pool_create(video_port, video_port->buffer_num, video_port->buffer_size);
if (!pool)
{
vcos_log_error("Failed to create buffer header pool for video output port");
}
state->video_pool = pool;
/* Ensure there are enough buffers to avoid dropping frames */
if (still_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
still_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
/* Enable component */
status = mmal_component_enable(camera);
if (status)
{
vcos_log_error("camera component couldn't be enabled");
goto error;
}
raspicamcontrol_set_all_parameters(camera, &state->camera_parameters);
state->camera_component = camera;
return camera;
error:
if (camera)
mmal_component_destroy(camera);
return 0;
}
int setup_camera(PORT_USERDATA *userdata) {
MMAL_STATUS_T status;
MMAL_COMPONENT_T *camera = 0;
MMAL_ES_FORMAT_T *format;
MMAL_PORT_T * camera_preview_port;
MMAL_PORT_T * camera_video_port;
MMAL_PORT_T * camera_still_port;
MMAL_POOL_T * camera_video_port_pool;
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: create camera %x\n", status);
return -1;
}
userdata->camera = camera;
userdata->camera_preview_port = camera->output[MMAL_CAMERA_PREVIEW_PORT];
userdata->camera_video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
userdata->camera_still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
camera_preview_port = camera->output[MMAL_CAMERA_PREVIEW_PORT];
camera_video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
camera_still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
{
MMAL_PARAMETER_CAMERA_CONFIG_T cam_config = {
{ MMAL_PARAMETER_CAMERA_CONFIG, sizeof (cam_config)},
.max_stills_w = 1280,
.max_stills_h = 720,
.stills_yuv422 = 0,
.one_shot_stills = 1,
.max_preview_video_w = VIDEO_WIDTH,
.max_preview_video_h = VIDEO_HEIGHT,
.num_preview_video_frames = 3,
.stills_capture_circular_buffer_height = 0,
.fast_preview_resume = 0,
.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC
};
mmal_port_parameter_set(camera->control, &cam_config.hdr);
}
// Setup camera preview port format
format = camera_preview_port->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = VIDEO_WIDTH;
format->es->video.height = VIDEO_HEIGHT;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = VIDEO_WIDTH;
format->es->video.crop.height = VIDEO_HEIGHT;
status = mmal_port_format_commit(camera_preview_port);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: camera viewfinder format couldn't be set\n");
return -1;
}
// Setup camera video port format
mmal_format_copy(camera_video_port->format, camera_preview_port->format);
format = camera_video_port->format;
format->encoding = MMAL_ENCODING_I420;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = VIDEO_WIDTH;
format->es->video.height = VIDEO_HEIGHT;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = VIDEO_WIDTH;
format->es->video.crop.height = VIDEO_HEIGHT;
format->es->video.frame_rate.num = VIDEO_FPS;
format->es->video.frame_rate.den = 1;
camera_video_port->buffer_size = format->es->video.width * format->es->video.height * 12 / 8;
camera_video_port->buffer_num = 2;
//fprintf(stderr, "INFO:camera video buffer_size = %d\n", camera_video_port->buffer_size);
//fprintf(stderr, "INFO:camera video buffer_num = %d\n", camera_video_port->buffer_num);
status = mmal_port_format_commit(camera_video_port);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to commit camera video port format (%u)\n", status);
return -1;
}
camera_video_port_pool = (MMAL_POOL_T *) mmal_port_pool_create(camera_video_port, camera_video_port->buffer_num, camera_video_port->buffer_size);
userdata->camera_video_port_pool = camera_video_port_pool;
camera_video_port->userdata = (struct MMAL_PORT_USERDATA_T *) userdata;
status = mmal_port_enable(camera_video_port, camera_video_buffer_callback);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to enable camera video port (%u)\n", status);
return -1;
}
status = mmal_component_enable(camera);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to enable camera (%u)\n", status);
return -1;
}
fill_port_buffer(userdata->camera_video_port, userdata->camera_video_port_pool);
if (mmal_port_parameter_set_boolean(camera_video_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS) {
printf("%s: Failed to start capture\n", __func__);
}
//fprintf(stderr, "INFO: camera created\n");
return 0;
}
int setup_encoder(PORT_USERDATA *userdata) {
MMAL_STATUS_T status;
MMAL_COMPONENT_T *encoder = 0;
MMAL_PORT_T *preview_input_port = NULL;
MMAL_PORT_T *encoder_input_port = NULL, *encoder_output_port = NULL;
MMAL_POOL_T *encoder_input_port_pool;
MMAL_POOL_T *encoder_output_port_pool;
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_IMAGE_ENCODER, &encoder);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to create preview (%u)\n", status);
return -1;
}
encoder_input_port = encoder->input[0];
encoder_output_port = encoder->output[0];
userdata->encoder_input_port = encoder_input_port;
userdata->encoder_output_port = encoder_input_port;
mmal_format_copy(encoder_input_port->format, userdata->camera_video_port->format);
encoder_input_port->buffer_size = encoder_input_port->buffer_size_recommended;
encoder_input_port->buffer_num = 2;
mmal_format_copy(encoder_output_port->format, encoder_input_port->format);
encoder_output_port->buffer_size = encoder_output_port->buffer_size_recommended;
encoder_output_port->buffer_num = 2;
// Commit the port changes to the input port
status = mmal_port_format_commit(encoder_input_port);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to commit encoder input port format (%u)\n", status);
return -1;
}
encoder_output_port->format->encoding = MMAL_ENCODING_JPEG;
encoder_output_port->buffer_size = encoder_output_port->buffer_size_recommended;
if (encoder_output_port->buffer_size < encoder_output_port->buffer_size_min) {
encoder_output_port->buffer_size = encoder_output_port->buffer_size_min;
}
encoder_output_port->buffer_num = encoder_output_port->buffer_num_recommended;
if (encoder_output_port->buffer_num < encoder_output_port->buffer_num_min) {
encoder_output_port->buffer_num = encoder_output_port->buffer_num_min;
}
// Commit the port changes to the output port
status = mmal_port_format_commit(encoder_output_port);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to commit encoder output port format (%u)\n", status);
return -1;
}
//fprintf(stderr, " encoder input buffer_size = %d\n", encoder_input_port->buffer_size);
//fprintf(stderr, " encoder input buffer_num = %d\n", encoder_input_port->buffer_num);
//fprintf(stderr, " encoder output buffer_size = %d\n", encoder_output_port->buffer_size);
//fprintf(stderr, " encoder output buffer_num = %d\n", encoder_output_port->buffer_num);
encoder_input_port_pool = (MMAL_POOL_T *) mmal_port_pool_create(encoder_input_port, encoder_input_port->buffer_num, encoder_input_port->buffer_size);
userdata->encoder_input_pool = encoder_input_port_pool;
encoder_input_port->userdata = (struct MMAL_PORT_USERDATA_T *) userdata;
status = mmal_port_enable(encoder_input_port, encoder_input_buffer_callback);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to enable encoder input port (%u)\n", status);
return -1;
}
//fprintf(stderr, "INFO:Encoder input pool has been created\n");
encoder_output_port_pool = (MMAL_POOL_T *) mmal_port_pool_create(encoder_output_port, encoder_output_port->buffer_num, encoder_output_port->buffer_size);
userdata->encoder_output_pool = encoder_output_port_pool;
encoder_output_port->userdata = (struct MMAL_PORT_USERDATA_T *) userdata;
status = mmal_port_enable(encoder_output_port, encoder_output_buffer_callback);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to enable encoder output port (%u)\n", status);
return -1;
}
//fprintf(stderr, "INFO:Encoder output pool has been created\n");
fill_port_buffer(encoder_output_port, encoder_output_port_pool);
//fprintf(stderr, "INFO:Encoder has been created\n");
return 0;
}
/* Create Simple Video Player instance. */
SVP_T *svp_create(const char *uri, SVP_CALLBACKS_T *callbacks, const SVP_OPTS_T *opts)
{
SVP_T *svp;
MMAL_STATUS_T st;
VCOS_STATUS_T vst;
MMAL_PORT_T *reader_output = NULL;
MMAL_COMPONENT_T *video_decode = NULL;
MMAL_PORT_T *video_output = NULL;
LOG_TRACE("Creating player for %s", (uri ? uri : "camera preview"));
vcos_assert(callbacks->video_frame_cb);
vcos_assert(callbacks->stop_cb);
svp = vcos_calloc(1, sizeof(*svp), "svp");
CHECK_STATUS((svp ? MMAL_SUCCESS : MMAL_ENOMEM), "Failed to allocate context");
svp->opts = *opts;
svp->callbacks = *callbacks;
/* Semaphore used for synchronising buffer handling for decoded frames */
vst = vcos_semaphore_create(&svp->sema, "svp-sem", 0);
CHECK_STATUS((vst == VCOS_SUCCESS ? MMAL_SUCCESS : MMAL_ENOMEM), "Failed to create semaphore");
svp->created |= SVP_CREATED_SEM;
vst = vcos_mutex_create(&svp->mutex, "svp-mutex");
CHECK_STATUS((vst == VCOS_SUCCESS ? MMAL_SUCCESS : MMAL_ENOMEM), "Failed to create mutex");
svp->created |= SVP_CREATED_MUTEX;
vst = vcos_timer_create(&svp->timer, "svp-timer", svp_timer_cb, svp);
CHECK_STATUS((vst == VCOS_SUCCESS ? MMAL_SUCCESS : MMAL_ENOMEM), "Failed to create timer");
svp->created |= SVP_CREATED_TIMER;
vst = vcos_timer_create(&svp->wd_timer, "svp-wd-timer", svp_watchdog_cb, svp);
CHECK_STATUS((vst == VCOS_SUCCESS ? MMAL_SUCCESS : MMAL_ENOMEM), "Failed to create timer");
svp->created |= SVP_CREATED_WD_TIMER;
/* Create components */
svp->reader = NULL;
svp->video_decode = NULL;
svp->camera = NULL;
svp->connection = NULL;
if (uri)
{
/* Video from URI: setup container_reader -> video_decode */
/* Create and set up container reader */
st = mmal_component_create(MMAL_COMPONENT_DEFAULT_CONTAINER_READER, &svp->reader);
CHECK_STATUS(st, "Failed to create container reader");
st = svp_setup_reader(svp->reader, uri, &reader_output);
if (st != MMAL_SUCCESS)
goto error;
st = mmal_component_enable(svp->reader);
CHECK_STATUS(st, "Failed to enable container reader");
st = svp_port_enable(svp, svp->reader->control, svp_bh_control_cb);
CHECK_STATUS(st, "Failed to enable container reader control port");
/* Create and set up video decoder */
st = mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_DECODER, &svp->video_decode);
CHECK_STATUS(st, "Failed to create video decoder");
video_decode = svp->video_decode;
video_output = video_decode->output[0];
st = mmal_component_enable(video_decode);
CHECK_STATUS(st, "Failed to enable video decoder");
st = svp_port_enable(svp, video_decode->control, svp_bh_control_cb);
CHECK_STATUS(st, "Failed to enable video decoder control port");
}
else
{
/* Camera preview */
MMAL_PARAMETER_CAMERA_CONFIG_T config;
st = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &svp->camera);
CHECK_STATUS(st, "Failed to create camera");
st = mmal_component_enable(svp->camera);
CHECK_STATUS(st, "Failed to enable camera");
st = svp_port_enable(svp, svp->camera->control, svp_bh_control_cb);
CHECK_STATUS(st, "Failed to enable camera control port");
video_output = svp->camera->output[0]; /* Preview port */
}
st = mmal_port_parameter_set_boolean(video_output, MMAL_PARAMETER_ZERO_COPY, MMAL_TRUE);
CHECK_STATUS((st == MMAL_ENOSYS ? MMAL_SUCCESS : st), "Failed to enable zero copy");
if (uri)
{
/* Create connection: container_reader -> video_decoder */
st = mmal_connection_create(&svp->connection, reader_output, video_decode->input[0],
MMAL_CONNECTION_FLAG_TUNNELLING);
CHECK_STATUS(st, "Failed to create connection");
}
/* Set video output port format.
* Opaque encoding ensures we get buffer data as handles to relocatable heap. */
video_output->format->encoding = MMAL_ENCODING_OPAQUE;
if (!uri)
{
/* Set video format for camera preview */
MMAL_VIDEO_FORMAT_T *vfmt = &video_output->format->es->video;
CHECK_STATUS((video_output->format->type == MMAL_ES_TYPE_VIDEO) ? MMAL_SUCCESS : MMAL_EINVAL,
"Output port isn't video format");
vfmt->width = SVP_CAMERA_WIDTH;
vfmt->height = SVP_CAMERA_HEIGHT;
vfmt->crop.x = 0;
vfmt->crop.y = 0;
vfmt->crop.width = vfmt->width;
vfmt->crop.height = vfmt->height;
vfmt->frame_rate.num = SVP_CAMERA_FRAMERATE;
vfmt->frame_rate.den = 1;
}
st = mmal_port_format_commit(video_output);
CHECK_STATUS(st, "Failed to set output port format");
/* Finally, set buffer num/size. N.B. For container_reader/video_decode, must be after
* connection created, in order for port format to propagate.
* Don't enable video output port until want to produce frames. */
video_output->buffer_num = video_output->buffer_num_recommended;
video_output->buffer_size = video_output->buffer_size_recommended;
/* Pool + queue to hold decoded video frames */
svp->out_pool = mmal_port_pool_create(video_output, video_output->buffer_num,
video_output->buffer_size);
CHECK_STATUS((svp->out_pool ? MMAL_SUCCESS : MMAL_ENOMEM), "Error allocating pool");
svp->queue = mmal_queue_create();
CHECK_STATUS((svp ? MMAL_SUCCESS : MMAL_ENOMEM), "Error allocating queue");
svp->video_output = video_output;
return svp;
error:
svp_destroy(svp);
return NULL;
}
/**
* Reset the encoder component, set up its ports
*
* @param state Pointer to state control struct
*
* @return MMAL_SUCCESS if all OK, something else otherwise
*
*/
MMAL_STATUS_T reset_encoder_component(RASPIVID_STATE *state)
{
MMAL_COMPONENT_T *encoder = 0;
MMAL_PORT_T *encoder_input = NULL, *encoder_output = NULL;
MMAL_STATUS_T status;
MMAL_POOL_T *pool;
// Get the encoder component
if( state->encoder_component == NULL ) {
vcos_log_error("Unable to get video encoder component");
goto error;
}
else {
encoder = state->encoder_component;
}
#ifdef __NOT_REQURED__
if (!encoder->input_num || !encoder->output_num)
{
status = MMAL_ENOSYS;
vcos_log_error("Video encoder doesn't have input/output ports");
goto error;
}
encoder_input = encoder->input[0];
encoder_output = encoder->output[0];
// We want same format on input and output
mmal_format_copy(encoder_output->format, encoder_input->format);
// Only supporting H264 at the moment
encoder_output->format->encoding = state->encoding;
encoder_output->format->bitrate = state->bitrate;
if (state->encoding == MMAL_ENCODING_H264)
encoder_output->buffer_size = encoder_output->buffer_size_recommended;
else
encoder_output->buffer_size = 256<<10;
if (encoder_output->buffer_size < encoder_output->buffer_size_min)
encoder_output->buffer_size = encoder_output->buffer_size_min;
encoder_output->buffer_num = encoder_output->buffer_num_recommended;
if (encoder_output->buffer_num < encoder_output->buffer_num_min)
encoder_output->buffer_num = encoder_output->buffer_num_min;
// We need to set the frame rate on output to 0, to ensure it gets
// updated correctly from the input framerate when port connected
encoder_output->format->es->video.frame_rate.num = 0;
encoder_output->format->es->video.frame_rate.den = 1;
// Commit the port changes to the output port
status = mmal_port_format_commit(encoder_output);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set format on video encoder output port");
goto error;
}
if (state->encoding == MMAL_ENCODING_H264 &&
state->intraperiod != -1)
{
MMAL_PARAMETER_UINT32_T param = {{ MMAL_PARAMETER_INTRAPERIOD, sizeof(param)}, state->intraperiod};
status = mmal_port_parameter_set(encoder_output, ¶m.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set intraperiod");
goto error;
}
}
if (state->encoding == MMAL_ENCODING_H264 && state->quantisationParameter)
{
MMAL_PARAMETER_UINT32_T param =
{{ MMAL_PARAMETER_VIDEO_ENCODE_INITIAL_QUANT, sizeof(param)}, state->quantisationInitialParameter};
status = mmal_port_parameter_set(encoder_output, ¶m.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set initial QP");
goto error;
}
MMAL_PARAMETER_UINT32_T param2 =
{{ MMAL_PARAMETER_VIDEO_ENCODE_MIN_QUANT, sizeof(param)}, state->quantisationMinParameter};
status = mmal_port_parameter_set(encoder_output, ¶m2.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set min QP");
goto error;
}
MMAL_PARAMETER_UINT32_T param3 =
{{ MMAL_PARAMETER_VIDEO_ENCODE_MAX_QUANT, sizeof(param)}, state->quantisationMaxParameter};
status = mmal_port_parameter_set(encoder_output, ¶m3.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set max QP");
goto error;
}
}
if (state->encoding == MMAL_ENCODING_H264)
{
MMAL_PARAMETER_VIDEO_PROFILE_T param;
param.hdr.id = MMAL_PARAMETER_PROFILE;
param.hdr.size = sizeof(param);
param.profile[0].profile = state->profile;
param.profile[0].level = MMAL_VIDEO_LEVEL_H264_4; // This is the only value supported
status = mmal_port_parameter_set(encoder_output, ¶m.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set H264 profile");
goto error;
}
}
if (mmal_port_parameter_set_boolean(encoder_input,
MMAL_PARAMETER_VIDEO_IMMUTABLE_INPUT, state->immutableInput) != MMAL_SUCCESS)
{
vcos_log_error("Unable to set immutable input flag");
// Continue rather than abort..
}
//set INLINE HEADER flag to generate SPS and PPS for every IDR if requested
if (mmal_port_parameter_set_boolean(encoder_output,
MMAL_PARAMETER_VIDEO_ENCODE_INLINE_HEADER, state->bInlineHeaders) != MMAL_SUCCESS)
{
vcos_log_error("failed to set INLINE HEADER FLAG parameters");
// Continue rather than abort..
}
//set Encode SPS Timing
if (mmal_port_parameter_set_boolean(encoder_output,
MMAL_PARAMETER_VIDEO_ENCODE_SPS_TIMING, MMAL_TRUE) != MMAL_SUCCESS)
{
vcos_log_error("failed to set SPS TIMING HEADER FLAG parameters");
// Continue rather than abort..
}
// set Minimise Fragmentation
if (mmal_port_parameter_set_boolean(encoder_output,
MMAL_PARAMETER_MINIMISE_FRAGMENTATION, MMAL_FALSE) != MMAL_SUCCESS)
{
vcos_log_error("failed to set SPS TIMING HEADER FLAG parameters");
// Continue rather than abort..
}
// Adaptive intra refresh settings
if (state->encoding == MMAL_ENCODING_H264 &&
state->intra_refresh_type != -1)
{
MMAL_PARAMETER_VIDEO_INTRA_REFRESH_T param;
param.hdr.id = MMAL_PARAMETER_VIDEO_INTRA_REFRESH;
param.hdr.size = sizeof(param);
// Get first so we don't overwrite anything unexpectedly
status = mmal_port_parameter_get(encoder_output, ¶m.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_warn("Unable to get existing H264 intra-refresh values. Please update your firmware");
// Set some defaults, don't just pass random stack data
param.air_mbs = param.air_ref = param.cir_mbs = param.pir_mbs = 0;
}
param.refresh_mode = state->intra_refresh_type;
//if (state->intra_refresh_type == MMAL_VIDEO_INTRA_REFRESH_CYCLIC_MROWS)
// param.cir_mbs = 10;
status = mmal_port_parameter_set(encoder_output, ¶m.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set H264 intra-refresh values");
goto error;
}
}
#endif /* NOT_REQUIRED */
// Enable component
status = mmal_component_enable(encoder);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to enable video encoder component");
goto error;
}
#ifdef __NOT_REQURED__
/* Create pool of buffer headers for the output port to consume */
pool = mmal_port_pool_create(encoder_output, encoder_output->buffer_num, encoder_output->buffer_size);
if (!pool)
{
vcos_log_error("Failed to create buffer header pool for encoder output port %s", encoder_output->name);
}
state->encoder_pool = pool;
state->encoder_component = encoder;
#endif /* NOT_REQUIRED */
return status;
error:
if (encoder)
mmal_component_destroy(encoder);
state->encoder_component = NULL;
return status;
}
bool CMMALRenderer::init_vout(ERenderFormat format, bool opaque)
{
CSingleLock lock(m_sharedSection);
bool formatChanged = m_format != format || m_opaque != opaque;
MMAL_STATUS_T status;
CLog::Log(LOGDEBUG, "%s::%s configured:%d format %d->%d opaque %d->%d", CLASSNAME, __func__, m_bConfigured, m_format, format, m_opaque, opaque);
if (m_bMMALConfigured && formatChanged)
UnInitMMAL();
if (m_bMMALConfigured || format != RENDER_FMT_MMAL)
return true;
m_format = format;
m_opaque = opaque;
/* Create video renderer */
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_RENDERER, &m_vout);
if(status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to create vout component (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
m_vout_input = m_vout->input[0];
m_vout_input->userdata = (struct MMAL_PORT_USERDATA_T *)this;
MMAL_ES_FORMAT_T *es_format = m_vout_input->format;
es_format->type = MMAL_ES_TYPE_VIDEO;
if (CONF_FLAGS_YUVCOEF_MASK(m_iFlags) == CONF_FLAGS_YUVCOEF_BT709)
es_format->es->video.color_space = MMAL_COLOR_SPACE_ITUR_BT709;
else if (CONF_FLAGS_YUVCOEF_MASK(m_iFlags) == CONF_FLAGS_YUVCOEF_BT601)
es_format->es->video.color_space = MMAL_COLOR_SPACE_ITUR_BT601;
else if (CONF_FLAGS_YUVCOEF_MASK(m_iFlags) == CONF_FLAGS_YUVCOEF_240M)
es_format->es->video.color_space = MMAL_COLOR_SPACE_SMPTE240M;
es_format->es->video.crop.width = m_sourceWidth;
es_format->es->video.crop.height = m_sourceHeight;
es_format->es->video.width = m_sourceWidth;
es_format->es->video.height = m_sourceHeight;
es_format->encoding = m_opaque ? MMAL_ENCODING_OPAQUE : MMAL_ENCODING_I420;
status = mmal_port_parameter_set_boolean(m_vout_input, MMAL_PARAMETER_ZERO_COPY, MMAL_TRUE);
if (status != MMAL_SUCCESS)
CLog::Log(LOGERROR, "%s::%s Failed to enable zero copy mode on %s (status=%x %s)", CLASSNAME, __func__, m_vout_input->name, status, mmal_status_to_string(status));
status = mmal_port_format_commit(m_vout_input);
if (status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to commit vout input format (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
m_vout_input->buffer_num = std::max(m_vout_input->buffer_num_recommended, (uint32_t)m_NumYV12Buffers+(m_opaque?0:32));
m_vout_input->buffer_size = m_vout_input->buffer_size_recommended;
status = mmal_port_enable(m_vout_input, vout_input_port_cb_static);
if(status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to vout enable input port (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
status = mmal_component_enable(m_vout);
if(status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to enable vout component (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
CLog::Log(LOGDEBUG, "%s::%s Created pool of size %d x %d", CLASSNAME, __func__, m_vout_input->buffer_num, m_vout_input->buffer_size);
m_vout_input_pool = mmal_port_pool_create(m_vout_input , m_vout_input->buffer_num, m_opaque ? m_vout_input->buffer_size:0);
if (!m_vout_input_pool)
{
CLog::Log(LOGERROR, "%s::%s Failed to create pool for decoder input port (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
if (!CSettings::GetInstance().GetBool("videoplayer.usedisplayasclock"))
{
m_queue = mmal_queue_create();
Create();
}
return true;
}
/**
* Create the encoder component, set up its ports
*
* @param state Pointer to state control struct
*
* @return MMAL_SUCCESS if all OK, something else otherwise
*
*/
static MMAL_STATUS_T create_encoder_component(RASPIVID_STATE *state)
{
MMAL_COMPONENT_T *encoder = 0;
MMAL_PORT_T *encoder_input = NULL, *encoder_output = NULL;
MMAL_STATUS_T status;
MMAL_POOL_T *pool;
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_ENCODER, &encoder);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to create video encoder component");
goto error;
}
if (!encoder->input_num || !encoder->output_num)
{
status = MMAL_ENOSYS;
vcos_log_error("Video encoder doesn't have input/output ports");
goto error;
}
encoder_input = encoder->input[0];
encoder_output = encoder->output[0];
// We want same format on input and output
mmal_format_copy(encoder_output->format, encoder_input->format);
// Only supporting H264 at the moment
encoder_output->format->encoding = MMAL_ENCODING_H264;
encoder_output->format->bitrate = state->bitrate;
encoder_output->buffer_size = encoder_output->buffer_size_recommended;
if (encoder_output->buffer_size < encoder_output->buffer_size_min)
encoder_output->buffer_size = encoder_output->buffer_size_min;
encoder_output->buffer_num = encoder_output->buffer_num_recommended;
if (encoder_output->buffer_num < encoder_output->buffer_num_min)
encoder_output->buffer_num = encoder_output->buffer_num_min;
// Commit the port changes to the output port
status = mmal_port_format_commit(encoder_output);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set format on video encoder output port");
goto error;
}
// Set the rate control parameter
if (0)
{
MMAL_PARAMETER_VIDEO_RATECONTROL_T param = {{ MMAL_PARAMETER_RATECONTROL, sizeof(param)}, MMAL_VIDEO_RATECONTROL_DEFAULT};
status = mmal_port_parameter_set(encoder_output, ¶m.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set ratecontrol");
goto error;
}
}
if (state->intraperiod)
{
MMAL_PARAMETER_UINT32_T param = {{ MMAL_PARAMETER_INTRAPERIOD, sizeof(param)}, state->intraperiod};
status = mmal_port_parameter_set(encoder_output, ¶m.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set intraperiod");
goto error;
}
}
if (mmal_port_parameter_set_boolean(encoder_input, MMAL_PARAMETER_VIDEO_IMMUTABLE_INPUT, state->immutableInput) != MMAL_SUCCESS)
{
vcos_log_error("Unable to set immutable input flag");
// Continue rather than abort..
}
// Enable component
status = mmal_component_enable(encoder);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to enable video encoder component");
goto error;
}
/* Create pool of buffer headers for the output port to consume */
pool = mmal_port_pool_create(encoder_output, encoder_output->buffer_num, encoder_output->buffer_size);
if (!pool)
{
vcos_log_error("Failed to create buffer header pool for encoder output port %s", encoder_output->name);
}
state->encoder_pool = pool;
state->encoder_component = encoder;
if (state->verbose)
fprintf(stderr, "Encoder component done\n");
return status;
error:
if (encoder)
mmal_component_destroy(encoder);
return status;
}
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;
}
PiCam::PiCam(unsigned int width, unsigned int height, std::function<void(cv::Mat)> callback) :
width(width), height(height), callback(callback), videoPool(videoPool),
cameraComponent(nullptr), previewPort(nullptr), videoPort(nullptr), stillPort(nullptr)
{
bcm_host_init();
std::cout << "BCM HOST INIT Finished" << std::endl;
MMAL_STATUS_T status;
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &cameraComponent);
if(status != MMAL_SUCCESS) throw std::runtime_error("Couldn't create camera component.");
if(!cameraComponent->output_num) throw std::runtime_error("Camera doesn't have output ports.");
videoPort = cameraComponent->output[MMAL_CAMERA_VIDEO_PORT];
stillPort = cameraComponent->output[MMAL_CAMERA_CAPTURE_PORT];
{
MMAL_PARAMETER_CAMERA_CONFIG_T cam_config =
{
{ MMAL_PARAMETER_CAMERA_CONFIG, sizeof(cam_config) },
.max_stills_w = width,
.max_stills_h = height,
.stills_yuv422 = 0,
.one_shot_stills = 0,
.max_preview_video_w = width,
.max_preview_video_h = height,
.num_preview_video_frames = 3,
.stills_capture_circular_buffer_height = 0,
.fast_preview_resume = 0,
.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC
};
mmal_port_parameter_set(cameraComponent->control, &cam_config.hdr);
}
// Setup format for the video port.
MMAL_ES_FORMAT_T* format = videoPort->format;
format->encoding = MMAL_ENCODING_BGR24;
format->encoding_variant = MMAL_ENCODING_BGR24;
//format->encoding = MMAL_ENCODING_I420;
//format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = width;
format->es->video.height = height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = width;
format->es->video.crop.height = height;
format->es->video.frame_rate.num = framerate;
format->es->video.frame_rate.den = VIDEO_FRAME_RATE_DEN;
status = mmal_port_format_commit(videoPort);
if(status) throw std::runtime_error("Couldn't set video format.");
status = mmal_port_enable(videoPort, PiCam::video_buffer_callback);
if(status) throw std::runtime_error("Couldn't enable video buffer callback");
if (videoPort->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
videoPort->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
// Setup format for the still port.
format = stillPort->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = width;
format->es->video.height = height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = width;
format->es->video.crop.height = height;
format->es->video.frame_rate.num = 1;
format->es->video.frame_rate.den = 1;
status = mmal_port_format_commit(stillPort);
if(status) throw std::runtime_error("Couldn't set still format.");
// Ensure there are enough buffers to avoid dropping frames.
if (stillPort->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
stillPort->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
videoPort->buffer_size = videoPort->buffer_size_recommended;
videoPort->buffer_num = videoPort->buffer_num_recommended;
videoPool = mmal_port_pool_create(videoPort, videoPort->buffer_num, videoPort->buffer_size);
if(!videoPool) throw std::runtime_error("Couldn't create buffer header pool for video output port");
MMAL_PARAMETER_EXPOSUREMODE_T exp_mode = {{MMAL_PARAMETER_EXPOSURE_MODE,sizeof(exp_mode)}, MMAL_PARAM_EXPOSUREMODE_FIXEDFPS};
status = mmal_port_parameter_set(cameraComponent->control, &exp_mode.hdr);
status = mmal_component_enable(cameraComponent);
//
frame = cv::Mat(height, width, CV_8UC3);
videoPort->userdata = (struct MMAL_PORT_USERDATA_T*)this;
/*
if (mmal_port_parameter_set_boolean(videoPort, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
{
throw std::runtime_error("Couldn't start video capture");
}
int num = mmal_queue_length(videoPool->queue);
int q;
for (q=0;q<num;q++)
{
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(videoPool->queue);
// TODO: Add numbers to these error messages.
if (!buffer)
throw std::runtime_error("Unable to get a required buffer from pool queue");
if (mmal_port_send_buffer(videoPort, buffer)!= MMAL_SUCCESS)
throw std::runtime_error("Unable to send a buffer to an encoder output port");
}
*/
}
MMAL_COMPONENT_T *Private_Impl::create_camera_component ( RASPIVID_STATE *state ) {
MMAL_COMPONENT_T *camera = 0;
MMAL_ES_FORMAT_T *format;
MMAL_PORT_T *video_port = NULL;
// MMAL_PORT_T *preview_port = NULL;
// MMAL_PORT_T *still_port = NULL;
MMAL_STATUS_T status;
/* Create the component */
status = mmal_component_create ( MMAL_COMPONENT_DEFAULT_CAMERA, &camera );
if ( status != MMAL_SUCCESS ) {
cerr << ( "Failed to create camera component" );
return 0;
}
if ( !camera->output_num ) {
cerr << ( "Camera doesn't have output ports" );
mmal_component_destroy ( camera );
return 0;
}
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
// preview_port=camera->output[MMAL_CAMERA_PREVIEW_PORT];
// still_port=camera->output[MMAL_CAMERA_CAPTURE_PORT];
// set up the camera configuration
MMAL_PARAMETER_CAMERA_CONFIG_T cam_config;
cam_config.hdr.id = MMAL_PARAMETER_CAMERA_CONFIG;
cam_config.hdr.size = sizeof ( cam_config );
cam_config.max_stills_w = state->width;
cam_config.max_stills_h = state->height;
cam_config.stills_yuv422 = 0;
cam_config.one_shot_stills = 0;
cam_config.max_preview_video_w = state->width;
cam_config.max_preview_video_h = state->height;
cam_config.num_preview_video_frames = 3;
cam_config.stills_capture_circular_buffer_height = 0;
cam_config.fast_preview_resume = 0;
cam_config.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RAW_STC;
mmal_port_parameter_set ( camera->control, &cam_config.hdr );
/**
* Set the ROI of the sensor to use for captures/preview
* @param camera Pointer to camera component
* @param rect Normalised coordinates of ROI rectangle
*
*
*/
MMAL_PARAMETER_INPUT_CROP_T crop = {{MMAL_PARAMETER_INPUT_CROP, sizeof(MMAL_PARAMETER_INPUT_CROP_T)}};
double x = state->roi.x;
double y = state->roi.y;
double w = state->roi.w;
double h = state->roi.h;
if (x + w > 1.0)
w = 1 - x;
if (y + h > 1.0)
h = 1 - y;
crop.rect.x = (65536 * x);
crop.rect.y = (65536 * y);
crop.rect.width = (65536 * w);
crop.rect.height = (65536 * h);
mmal_port_parameter_set(camera->control, &crop.hdr);
// Set the encode format on the video port
format = video_port->format;
format->encoding_variant = convertFormat ( State.captureFtm );
format->encoding = convertFormat ( State.captureFtm );
format->es->video.width = VCOS_ALIGN_UP(state->width, 32);
format->es->video.height = VCOS_ALIGN_UP(state->height, 16);
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->width;
format->es->video.crop.height = state->height;
format->es->video.frame_rate.num = state->framerate;
format->es->video.frame_rate.den = VIDEO_FRAME_RATE_DEN;
status = mmal_port_format_commit ( video_port );
if ( status ) {
cerr << ( "camera video format couldn't be set" );
mmal_component_destroy ( camera );
return 0;
}
// Ensure there are enough buffers to avoid dropping frames
if ( video_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM )
video_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
video_port->buffer_size = video_port->buffer_size_recommended;
//video_port->buffer_num = video_port->buffer_num_recommended;
//PR : create pool of message on video port
MMAL_POOL_T *pool;
pool = mmal_port_pool_create ( video_port, video_port->buffer_num, video_port->buffer_size );
if ( !pool ) {
cerr << ( "Failed to create buffer header pool for video output port" );
}
state->video_pool = pool;
// PR : plug the callback to the video port
status = mmal_port_enable ( video_port, video_buffer_callback );
if ( status ) {
cerr << ( "camera video callback2 error" );
mmal_component_destroy ( camera );
return 0;
}
/* Enable component */
status = mmal_component_enable ( camera );
if ( status ) {
cerr << ( "camera component couldn't be enabled" );
mmal_component_destroy ( camera );
return 0;
}
state->camera_component = camera;//this needs to be before set_all_parameters
return camera;
}
/**
* Create the camera component, set up its ports
*
* @param state Pointer to state control struct
*
* @return 0 if failed, pointer to component if successful
*
*/
static MMAL_COMPONENT_T *create_camera_component(RASPISTILLYUV_STATE *state)
{
MMAL_COMPONENT_T *camera = 0;
MMAL_ES_FORMAT_T *format;
MMAL_PORT_T *preview_port = NULL, *video_port = NULL, *still_port = NULL;
MMAL_STATUS_T status;
MMAL_POOL_T *pool;
/* Create the component */
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to create camera component");
goto error;
}
if (!camera->output_num)
{
vcos_log_error("Camera doesn't have output ports");
goto error;
}
preview_port = camera->output[MMAL_CAMERA_PREVIEW_PORT];
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
// Enable the camera, and tell it its control callback function
status = mmal_port_enable(camera->control, camera_control_callback);
if (status)
{
vcos_log_error("Unable to enable control port : error %d", status);
goto error;
}
// set up the camera configuration
{
MMAL_PARAMETER_CAMERA_CONFIG_T cam_config =
{
{ MMAL_PARAMETER_CAMERA_CONFIG, sizeof(cam_config) },
.max_stills_w = state->width,
.max_stills_h = state->height,
.stills_yuv422 = 0,
.one_shot_stills = 0,
.max_preview_video_w = state->preview_parameters.previewWindow.width,
.max_preview_video_h = state->preview_parameters.previewWindow.height,
.num_preview_video_frames = 3,
.stills_capture_circular_buffer_height = 0,
.fast_preview_resume = 0,
.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC
};
mmal_port_parameter_set(camera->control, &cam_config.hdr);
}
raspicamcontrol_set_all_parameters(camera, &state->camera_parameters);
// Now set up the port formats
format = preview_port->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = state->preview_parameters.previewWindow.width;
format->es->video.height = state->preview_parameters.previewWindow.height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->preview_parameters.previewWindow.width;
format->es->video.crop.height = state->preview_parameters.previewWindow.height;
format->es->video.frame_rate.num = PREVIEW_FRAME_RATE_NUM;
format->es->video.frame_rate.den = PREVIEW_FRAME_RATE_DEN;
status = mmal_port_format_commit(preview_port);
if (status)
{
vcos_log_error("camera viewfinder format couldn't be set");
goto error;
}
// Set the same format on the video port (which we dont use here)
mmal_format_full_copy(video_port->format, format);
status = mmal_port_format_commit(video_port);
if (status)
{
vcos_log_error("camera video format couldn't be set");
goto error;
}
// Ensure there are enough buffers to avoid dropping frames
if (video_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
video_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
format = still_port->format;
// Set our stills format on the stills port
format->encoding = MMAL_ENCODING_I420;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = state->width;
format->es->video.height = state->height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->width;
format->es->video.crop.height = state->height;
format->es->video.frame_rate.num = STILLS_FRAME_RATE_NUM;
format->es->video.frame_rate.den = STILLS_FRAME_RATE_DEN;
if (still_port->buffer_size < still_port->buffer_size_min)
still_port->buffer_size = still_port->buffer_size_min;
still_port->buffer_num = still_port->buffer_num_recommended;
status = mmal_port_format_commit(still_port);
if (status)
{
vcos_log_error("camera still format couldn't be set");
goto error;
}
/* Enable component */
status = mmal_component_enable(camera);
if (status)
{
vcos_log_error("camera component couldn't be enabled");
goto error;
}
/* Create pool of buffer headers for the output port to consume */
pool = mmal_port_pool_create(still_port, still_port->buffer_num, still_port->buffer_size);
if (!pool)
{
vcos_log_error("Failed to create buffer header pool for camera still port %s", still_port->name);
}
state->camera_pool = pool;
state->camera_component = camera;
if (state->verbose)
printf("Camera component done\n");
return camera;
error:
if (camera)
mmal_component_destroy(camera);
return 0;
}
int Private_Impl_Still::createCamera() {
if ( mmal_component_create ( MMAL_COMPONENT_DEFAULT_CAMERA, &camera ) ) {
cout << API_NAME << ": Failed to create camera component.\n";
destroyCamera();
return -1;
}
if ( !camera->output_num ) {
cout << API_NAME << ": Camera does not have output ports!\n";
destroyCamera();
return -1;
}
camera_still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
// Enable the camera, and tell it its control callback function
if ( mmal_port_enable ( camera->control, control_callback ) ) {
cout << API_NAME << ": Could not enable control port.\n";
destroyCamera();
return -1;
}
MMAL_PARAMETER_CAMERA_CONFIG_T camConfig = {
{MMAL_PARAMETER_CAMERA_CONFIG, sizeof ( camConfig ) },
width, // max_stills_w
height, // max_stills_h
0, // stills_yuv422
1, // one_shot_stills
width, // max_preview_video_w
height, // max_preview_video_h
3, // num_preview_video_frames
0, // stills_capture_circular_buffer_height
0, // fast_preview_resume
MMAL_PARAM_TIMESTAMP_MODE_RESET_STC // use_stc_timestamp
};
if ( mmal_port_parameter_set ( camera->control, &camConfig.hdr ) != MMAL_SUCCESS )
cout << API_NAME << ": Could not set port parameters.\n";
commitParameters();
MMAL_ES_FORMAT_T * format = camera_still_port->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->es->video.width = width;
format->es->video.height = height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = width;
format->es->video.crop.height = height;
format->es->video.frame_rate.num = STILLS_FRAME_RATE_NUM;
format->es->video.frame_rate.den = STILLS_FRAME_RATE_DEN;
if ( camera_still_port->buffer_size < camera_still_port->buffer_size_min )
camera_still_port->buffer_size = camera_still_port->buffer_size_min;
camera_still_port->buffer_num = camera_still_port->buffer_num_recommended;
if ( mmal_port_format_commit ( camera_still_port ) ) {
cout << API_NAME << ": Camera still format could not be set.\n";
destroyCamera();
return -1;
}
if ( mmal_component_enable ( camera ) ) {
cout << API_NAME << ": Camera component could not be enabled.\n";
destroyCamera();
return -1;
}
if ( ! ( encoder_pool = mmal_port_pool_create ( camera_still_port, camera_still_port->buffer_num, camera_still_port->buffer_size ) ) ) {
cout << API_NAME << ": Failed to create buffer header pool for camera.\n";
destroyCamera();
return -1;
}
return 0;
}
/* Registers a callback on the camera preview port to receive
* notifications of new frames.
* This must be called before rapitex_start and may not be called again
* without calling raspitex_destroy first.
*
* @param state Pointer to the GL preview state.
* @param port Pointer to the camera preview port
* @return Zero if successful.
*/
int raspitex_configure_preview_port(RASPITEX_STATE *state,
MMAL_PORT_T *preview_port)
{
MMAL_STATUS_T status;
vcos_log_trace("%s port %p", VCOS_FUNCTION, preview_port);
/* Enable ZERO_COPY mode on the preview port which instructs MMAL to only
* pass the 4-byte opaque buffer handle instead of the contents of the opaque
* buffer.
* The opaque handle is resolved on VideoCore by the GL driver when the EGL
* image is created.
*/
status = mmal_port_parameter_set_boolean(preview_port,
MMAL_PARAMETER_ZERO_COPY, MMAL_TRUE);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to enable zero copy on camera preview port");
goto end;
}
status = mmal_port_format_commit(preview_port);
if (status != MMAL_SUCCESS)
{
vcos_log_error("camera viewfinder format couldn't be set");
goto end;
}
/* For GL a pool of opaque buffer handles must be allocated in the client.
* These buffers are used to create the EGL images.
*/
state->preview_port = preview_port;
preview_port->buffer_num = preview_port->buffer_num_recommended;
preview_port->buffer_size = preview_port->buffer_size_recommended;
vcos_log_trace("Creating buffer pool for GL renderer num %d size %d",
preview_port->buffer_num, preview_port->buffer_size);
/* Pool + queue to hold preview frames */
state->preview_pool = mmal_port_pool_create(preview_port,
preview_port->buffer_num, preview_port->buffer_size);
if (! state->preview_pool)
{
vcos_log_error("Error allocating pool");
status = MMAL_ENOMEM;
goto end;
}
/* Place filled buffers from the preview port in a queue to render */
state->preview_queue = mmal_queue_create();
if (! state->preview_queue)
{
vcos_log_error("Error allocating queue");
status = MMAL_ENOMEM;
goto end;
}
/* Enable preview port callback */
preview_port->userdata = (struct MMAL_PORT_USERDATA_T*) state;
status = mmal_port_enable(preview_port, preview_output_cb);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to camera preview port");
goto end;
}
end:
return (status == MMAL_SUCCESS ? 0 : -1);
}
int main (int argc, char* argv[]) {
MMAL_STATUS_T status;
int i, max, fd, length, cam_setting;
unsigned long int cam_setting_long;
char readbuf[20];
char *filename_temp, *filename_temp2, *cmd_temp;
bcm_host_init();
//
// read arguments
//
unsigned char of_set = 0;
for(i=1; i<argc; i++) {
if(strcmp(argv[i], "--version") == 0) {
printf("RaspiMJPEG Version ");
printf(VERSION);
printf("\n");
exit(0);
}
else if(strcmp(argv[i], "-w") == 0) {
i++;
width = atoi(argv[i]);
}
else if(strcmp(argv[i], "-h") == 0) {
i++;
height = atoi(argv[i]);
}
else if(strcmp(argv[i], "-wp") == 0) {
i++;
width_pic = atoi(argv[i]);
}
else if(strcmp(argv[i], "-hp") == 0) {
i++;
height_pic = atoi(argv[i]);
}
else if(strcmp(argv[i], "-q") == 0) {
i++;
quality = atoi(argv[i]);
}
else if(strcmp(argv[i], "-d") == 0) {
i++;
divider = atoi(argv[i]);
}
else if(strcmp(argv[i], "-p") == 0) {
mp4box = 1;
}
else if(strcmp(argv[i], "-ic") == 0) {
i++;
image2_cnt = atoi(argv[i]);
}
else if(strcmp(argv[i], "-vc") == 0) {
i++;
video_cnt = atoi(argv[i]);
}
else if(strcmp(argv[i], "-of") == 0) {
i++;
jpeg_filename = argv[i];
of_set = 1;
}
else if(strcmp(argv[i], "-if") == 0) {
i++;
jpeg2_filename = argv[i];
of_set = 1;
}
else if(strcmp(argv[i], "-cf") == 0) {
i++;
pipe_filename = argv[i];
}
else if(strcmp(argv[i], "-vf") == 0) {
i++;
h264_filename = argv[i];
}
else if(strcmp(argv[i], "-sf") == 0) {
i++;
status_filename = argv[i];
}
else if(strcmp(argv[i], "-pa") == 0) {
autostart = 0;
idle = 1;
}
else if(strcmp(argv[i], "-md") == 0) {
motion_detection = 1;
}
else if(strcmp(argv[i], "-fp") == 0) {
preview_mode = RES_4_3;
}
else if(strcmp(argv[i], "-audio") == 0) {
audio_mode = 1;
}
else error("Invalid arguments");
}
if(!of_set) error("Output file not specified");
//
// init
//
if(autostart) start_all();
if(motion_detection) {
if(system("motion") == -1) error("Could not start Motion");
}
//
// run
//
if(autostart) {
if(pipe_filename != 0) printf("MJPEG streaming, ready to receive commands\n");
else printf("MJPEG streaming\n");
}
else {
if(pipe_filename != 0) printf("MJPEG idle, ready to receive commands\n");
else printf("MJPEG idle\n");
}
struct sigaction action;
memset(&action, 0, sizeof(struct sigaction));
action.sa_handler = term;
sigaction(SIGTERM, &action, NULL);
sigaction(SIGINT, &action, NULL);
if(status_filename != 0) {
status_file = fopen(status_filename, "w");
if(!status_file) error("Could not open/create status-file");
if(autostart) {
if(!motion_detection) {
fprintf(status_file, "ready");
}
else fprintf(status_file, "md_ready");
}
else fprintf(status_file, "halted");
fclose(status_file);
}
while(running) {
if(pipe_filename != 0) {
fd = open(pipe_filename, O_RDONLY | O_NONBLOCK);
if(fd < 0) error("Could not open PIPE");
fcntl(fd, F_SETFL, 0);
length = read(fd, readbuf, 20);
close(fd);
if(length) {
if((readbuf[0]=='p') && (readbuf[1]=='m')) {
stop_all();
readbuf[0] = ' ';
readbuf[1] = ' ';
readbuf[length] = 0;
if(strcmp(readbuf, " 4_3") == 0) preview_mode = RES_4_3;
else if(strcmp(readbuf, " 16_9_STD") == 0) preview_mode = RES_16_9_STD;
else if(strcmp(readbuf, " 16_9_WIDE") == 0) preview_mode = RES_16_9_WIDE;
start_all();
printf("Changed preview mode\n");
if(status_filename != 0) {
status_file = fopen(status_filename, "w");
fprintf(status_file, "ready");
fclose(status_file);
}
}
else if((readbuf[0]=='c') && (readbuf[1]=='a')) {
if(readbuf[3]=='1') {
if(!capturing) {
status = mmal_component_enable(h264encoder);
if(status != MMAL_SUCCESS) error("Could not enable h264encoder");
pool_h264encoder = mmal_port_pool_create(h264encoder->output[0], h264encoder->output[0]->buffer_num, h264encoder->output[0]->buffer_size);
if(!pool_h264encoder) error("Could not create pool");
status = mmal_connection_create(&con_cam_h264, camera->output[1], h264encoder->input[0], MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if(status != MMAL_SUCCESS) error("Could not create connecton camera -> video converter");
status = mmal_connection_enable(con_cam_h264);
if(status != MMAL_SUCCESS) error("Could not enable connection camera -> video converter");
currTime = time(NULL);
localTime = localtime (&currTime);
if(mp4box) {
asprintf(&filename_temp, h264_filename, video_cnt, localTime->tm_year+1900, localTime->tm_mon+1, localTime->tm_mday, localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
asprintf(&filename_temp2, "%s.h264", filename_temp);
}
else {
asprintf(&filename_temp2, h264_filename, video_cnt, localTime->tm_year+1900, localTime->tm_mon+1, localTime->tm_mday, localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
}
h264output_file = fopen(filename_temp2, "wb");
free(filename_temp2);
if(mp4box) {
if(audio_mode) {
asprintf(&cmd_temp, "/usr/bin/arecord -q -D hw:1,0 -f S16_LE -t wav | /usr/bin/lame - %s.mp3 -S &", filename_temp);
printf("Audio recording with \"%s\\n", cmd_temp);
if(system(cmd_temp) == -1) error("Could not start audio recording");
}
free(filename_temp);
}
if(!h264output_file) error("Could not open/create video-file");
status = mmal_port_enable(h264encoder->output[0], h264encoder_buffer_callback);
if(status != MMAL_SUCCESS) error("Could not enable video port");
max = mmal_queue_length(pool_h264encoder->queue);
for(i=0;i<max;i++) {
MMAL_BUFFER_HEADER_T *h264buffer = mmal_queue_get(pool_h264encoder->queue);
if(!h264buffer) error("Could not create video pool header");
status = mmal_port_send_buffer(h264encoder->output[0], h264buffer);
if(status != MMAL_SUCCESS) error("Could not send buffers to video port");
}
mmal_port_parameter_set_boolean(camera->output[1], MMAL_PARAMETER_CAPTURE, 1);
if(status != MMAL_SUCCESS) error("Could not start capture");
printf("Capturing started\n");
if(status_filename != 0) {
status_file = fopen(status_filename, "w");
if(!motion_detection) fprintf(status_file, "video");
else fprintf(status_file, "md_video");
fclose(status_file);
}
capturing = 1;
}
}
else {
if(capturing) {
mmal_port_parameter_set_boolean(camera->output[1], MMAL_PARAMETER_CAPTURE, 0);
if(status != MMAL_SUCCESS) error("Could not stop capture");
status = mmal_port_disable(h264encoder->output[0]);
if(status != MMAL_SUCCESS) error("Could not disable video port");
status = mmal_connection_destroy(con_cam_h264);
if(status != MMAL_SUCCESS) error("Could not destroy connection camera -> video encoder");
mmal_port_pool_destroy(h264encoder->output[0], pool_h264encoder);
if(status != MMAL_SUCCESS) error("Could not destroy video buffer pool");
status = mmal_component_disable(h264encoder);
if(status != MMAL_SUCCESS) error("Could not disable video converter");
fclose(h264output_file);
h264output_file = NULL;
printf("Capturing stopped\n");
if(mp4box) {
printf("Boxing started\n");
status_file = fopen(status_filename, "w");
if(!motion_detection) fprintf(status_file, "boxing");
else fprintf(status_file, "md_boxing");
fclose(status_file);
asprintf(&filename_temp, h264_filename, video_cnt, localTime->tm_year+1900, localTime->tm_mon+1, localTime->tm_mday, localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
if(audio_mode) {
asprintf(&cmd_temp, "/usr/bin/killall arecord > /dev/null");
if(system(cmd_temp) == -1) error("Could not stop audio recording");
free(cmd_temp);
asprintf(&cmd_temp, "MP4Box -fps 25 -add %s.h264 -add %s.mp3 %s > /dev/null", filename_temp, filename_temp, filename_temp);
} else {
asprintf(&cmd_temp, "MP4Box -fps 25 -add %s.h264 %s > /dev/null", filename_temp, filename_temp);
}
if(system(cmd_temp) == -1) error("Could not start MP4Box");
asprintf(&filename_temp2, "%s.h264", filename_temp);
remove(filename_temp2);
free(filename_temp2);
if (audio_mode) {
asprintf(&filename_temp2, "%s.mp3", filename_temp);
remove(filename_temp2);
free(filename_temp2);
}
free(filename_temp);
free(cmd_temp);
printf("Boxing stopped\n");
}
video_cnt++;
if(status_filename != 0) {
status_file = fopen(status_filename, "w");
if(!motion_detection) fprintf(status_file, "ready");
else fprintf(status_file, "md_ready");
fclose(status_file);
}
capturing = 0;
}
}
}
else if((readbuf[0]=='i') && (readbuf[1]=='m')) {
capt_img();
}
else if((readbuf[0]=='t') && (readbuf[1]=='l')) {
readbuf[0] = ' ';
readbuf[1] = ' ';
readbuf[length] = 0;
time_between_pic = atoi(readbuf);
if(time_between_pic) {
if(status_filename != 0) {
status_file = fopen(status_filename, "w");
fprintf(status_file, "timelapse");
fclose(status_file);
}
timelapse = 1;
printf("Timelapse started\n");
}
else {
if(status_filename != 0) {
status_file = fopen(status_filename, "w");
fprintf(status_file, "ready");
fclose(status_file);
}
timelapse = 0;
printf("Timelapse stopped\n");
}
}
else if((readbuf[0]=='s') && (readbuf[1]=='h')) {
readbuf[0] = ' ';
readbuf[1] = ' ';
readbuf[length] = 0;
cam_setting = atoi(readbuf);
MMAL_RATIONAL_T value = {cam_setting, 100};
status = mmal_port_parameter_set_rational(camera->control, MMAL_PARAMETER_SHARPNESS, value);
if(status != MMAL_SUCCESS) error("Could not set sharpness");
printf("Sharpness: %d\n", cam_setting);
}
else if((readbuf[0]=='c') && (readbuf[1]=='o')) {
readbuf[0] = ' ';
readbuf[1] = ' ';
readbuf[length] = 0;
cam_setting = atoi(readbuf);
MMAL_RATIONAL_T value = {cam_setting, 100};
status = mmal_port_parameter_set_rational(camera->control, MMAL_PARAMETER_CONTRAST, value);
if(status != MMAL_SUCCESS) error("Could not set contrast");
printf("Contrast: %d\n", cam_setting);
}
else if((readbuf[0]=='b') && (readbuf[1]=='r')) {
readbuf[0] = ' ';
readbuf[1] = ' ';
readbuf[length] = 0;
cam_setting = atoi(readbuf);
MMAL_RATIONAL_T value = {cam_setting, 100};
status = mmal_port_parameter_set_rational(camera->control, MMAL_PARAMETER_BRIGHTNESS, value);
if(status != MMAL_SUCCESS) error("Could not set brightness");
printf("Brightness: %d\n", cam_setting);
}
else if((readbuf[0]=='s') && (readbuf[1]=='a')) {
readbuf[0] = ' ';
readbuf[1] = ' ';
readbuf[length] = 0;
cam_setting = atoi(readbuf);
MMAL_RATIONAL_T value = {cam_setting, 100};
status = mmal_port_parameter_set_rational(camera->control, MMAL_PARAMETER_SATURATION, value);
if(status != MMAL_SUCCESS) error("Could not set saturation");
printf("Saturation: %d\n", cam_setting);
}
else if((readbuf[0]=='i') && (readbuf[1]=='s')) {
readbuf[0] = ' ';
readbuf[1] = ' ';
readbuf[length] = 0;
cam_setting = atoi(readbuf);
status = mmal_port_parameter_set_uint32(camera->control, MMAL_PARAMETER_ISO, cam_setting);
if(status != MMAL_SUCCESS) error("Could not set ISO");
printf("ISO: %d\n", cam_setting);
}
else if((readbuf[0]=='v') && (readbuf[1]=='s')) {
if(readbuf[3]=='1') {
status = mmal_port_parameter_set_boolean(camera->control, MMAL_PARAMETER_VIDEO_STABILISATION, 1);
printf("Video Stabilisation ON\n");
}
else {
status = mmal_port_parameter_set_boolean(camera->control, MMAL_PARAMETER_VIDEO_STABILISATION, 0);
printf("Video Stabilisation OFF\n");
}
if(status != MMAL_SUCCESS) error("Could not set video stabilisation");
}
else if((readbuf[0]=='e') && (readbuf[1]=='c')) {
readbuf[0] = ' ';
readbuf[1] = ' ';
readbuf[length] = 0;
cam_setting = atoi(readbuf);
status = mmal_port_parameter_set_int32(camera->control, MMAL_PARAMETER_EXPOSURE_COMP, cam_setting);
if(status != MMAL_SUCCESS) error("Could not set exposure compensation");
printf("Exposure Compensation: %d\n", cam_setting);
}
else if((readbuf[0]=='e') && (readbuf[1]=='m')) {
readbuf[0] = ' ';
readbuf[1] = ' ';
readbuf[length] = 0;
MMAL_PARAM_EXPOSUREMODE_T mode = MMAL_PARAM_EXPOSUREMODE_OFF;
if(strcmp(readbuf, " auto") == 0) mode = MMAL_PARAM_EXPOSUREMODE_AUTO;
else if(strcmp(readbuf, " night") == 0) mode = MMAL_PARAM_EXPOSUREMODE_NIGHT;
else if(strcmp(readbuf, " nightpreview") == 0) mode = MMAL_PARAM_EXPOSUREMODE_NIGHTPREVIEW;
else if(strcmp(readbuf, " backlight") == 0) mode = MMAL_PARAM_EXPOSUREMODE_BACKLIGHT;
else if(strcmp(readbuf, " spotlight") == 0) mode = MMAL_PARAM_EXPOSUREMODE_SPOTLIGHT;
else if(strcmp(readbuf, " sports") == 0) mode = MMAL_PARAM_EXPOSUREMODE_SPORTS;
else if(strcmp(readbuf, " snow") == 0) mode = MMAL_PARAM_EXPOSUREMODE_SNOW;
else if(strcmp(readbuf, " beach") == 0) mode = MMAL_PARAM_EXPOSUREMODE_BEACH;
else if(strcmp(readbuf, " verylong") == 0) mode = MMAL_PARAM_EXPOSUREMODE_VERYLONG;
else if(strcmp(readbuf, " fixedfps") == 0) mode = MMAL_PARAM_EXPOSUREMODE_FIXEDFPS;
else if(strcmp(readbuf, " antishake") == 0) mode = MMAL_PARAM_EXPOSUREMODE_ANTISHAKE;
else if(strcmp(readbuf, " fireworks") == 0) mode = MMAL_PARAM_EXPOSUREMODE_FIREWORKS;
MMAL_PARAMETER_EXPOSUREMODE_T exp_mode = {{MMAL_PARAMETER_EXPOSURE_MODE,sizeof(exp_mode)}, mode};
status = mmal_port_parameter_set(camera->control, &exp_mode.hdr);
if(status != MMAL_SUCCESS) error("Could not set exposure mode");
printf("Exposure mode changed\n");
}
else if((readbuf[0]=='w') && (readbuf[1]=='b')) {
readbuf[0] = ' ';
readbuf[1] = ' ';
readbuf[length] = 0;
MMAL_PARAM_AWBMODE_T awb_mode = MMAL_PARAM_AWBMODE_OFF;
if(strcmp(readbuf, " auto") == 0) awb_mode = MMAL_PARAM_AWBMODE_AUTO;
else if(strcmp(readbuf, " auto") == 0) awb_mode = MMAL_PARAM_AWBMODE_AUTO;
else if(strcmp(readbuf, " sun") == 0) awb_mode = MMAL_PARAM_AWBMODE_SUNLIGHT;
else if(strcmp(readbuf, " cloudy") == 0) awb_mode = MMAL_PARAM_AWBMODE_CLOUDY;
else if(strcmp(readbuf, " shade") == 0) awb_mode = MMAL_PARAM_AWBMODE_SHADE;
else if(strcmp(readbuf, " tungsten") == 0) awb_mode = MMAL_PARAM_AWBMODE_TUNGSTEN;
else if(strcmp(readbuf, " fluorescent") == 0) awb_mode = MMAL_PARAM_AWBMODE_FLUORESCENT;
else if(strcmp(readbuf, " incandescent") == 0) awb_mode = MMAL_PARAM_AWBMODE_INCANDESCENT;
else if(strcmp(readbuf, " flash") == 0) awb_mode = MMAL_PARAM_AWBMODE_FLASH;
else if(strcmp(readbuf, " horizon") == 0) awb_mode = MMAL_PARAM_AWBMODE_HORIZON;
MMAL_PARAMETER_AWBMODE_T param = {{MMAL_PARAMETER_AWB_MODE,sizeof(param)}, awb_mode};
status = mmal_port_parameter_set(camera->control, ¶m.hdr);
if(status != MMAL_SUCCESS) error("Could not set white balance");
printf("White balance changed\n");
}
else if((readbuf[0]=='r') && (readbuf[1]=='o')) {
readbuf[0] = ' ';
readbuf[1] = ' ';
readbuf[length] = 0;
cam_setting = atoi(readbuf);
status = mmal_port_parameter_set_int32(camera->output[0], MMAL_PARAMETER_ROTATION, cam_setting);
if(status != MMAL_SUCCESS) error("Could not set rotation (0)");
status = mmal_port_parameter_set_int32(camera->output[1], MMAL_PARAMETER_ROTATION, cam_setting);
if(status != MMAL_SUCCESS) error("Could not set rotation (1)");
status = mmal_port_parameter_set_int32(camera->output[2], MMAL_PARAMETER_ROTATION, cam_setting);
if(status != MMAL_SUCCESS) error("Could not set rotation (2)");
printf("Rotation: %d\n", cam_setting);
}
else if((readbuf[0]=='q') && (readbuf[1]=='u')) {
readbuf[0] = ' ';
readbuf[1] = ' ';
readbuf[length] = 0;
cam_setting = atoi(readbuf);
status = mmal_port_parameter_set_uint32(jpegencoder2->output[0], MMAL_PARAMETER_JPEG_Q_FACTOR, cam_setting);
if(status != MMAL_SUCCESS) error("Could not set quality");
printf("Quality: %d\n", cam_setting);
}
else if((readbuf[0]=='b') && (readbuf[1]=='i')) {
readbuf[0] = ' ';
readbuf[1] = ' ';
readbuf[length] = 0;
cam_setting_long = strtoull(readbuf, NULL, 0);
h264encoder->output[0]->format->bitrate = cam_setting_long;
status = mmal_port_format_commit(h264encoder->output[0]);
if(status != MMAL_SUCCESS) error("Could not set bitrate");
printf("Bitrate: %lu\n", cam_setting_long);
}
else if((readbuf[0]=='r') && (readbuf[1]=='u')) {
if(readbuf[3]=='0') {
stop_all();
idle = 1;
printf("Stream halted\n");
if(status_filename != 0) {
status_file = fopen(status_filename, "w");
fprintf(status_file, "halted");
fclose(status_file);
}
}
else {
start_all();
idle = 0;
printf("Stream continued\n");
if(status_filename != 0) {
status_file = fopen(status_filename, "w");
fprintf(status_file, "ready");
fclose(status_file);
}
}
}
else if((readbuf[0]=='m') && (readbuf[1]=='d')) {
if(readbuf[3]=='0') {
motion_detection = 0;
if(system("killall motion") == -1) error("Could not stop Motion");
printf("Motion detection stopped\n");
if(status_filename != 0) {
status_file = fopen(status_filename, "w");
fprintf(status_file, "ready");
fclose(status_file);
}
}
else {
motion_detection = 1;
if(system("motion") == -1) error("Could not start Motion");
printf("Motion detection started\n");
if(status_filename != 0) {
status_file = fopen(status_filename, "w");
fprintf(status_file, "md_ready");
fclose(status_file);
}
}
}
}
}
if(timelapse) {
tl_cnt++;
if(tl_cnt >= time_between_pic) {
if(capturing == 0) {
capt_img();
tl_cnt = 0;
}
}
}
usleep(100000);
}
printf("SIGINT/SIGTERM received, stopping\n");
//
// tidy up
//
if(!idle) stop_all();
return 0;
}
/**
* Create the camera component, set up its ports
*
* @param state Pointer to state control struct
*
* @return 0 if failed, pointer to component if successful
*
*/
static MMAL_STATUS_T create_camera_component(RASPISTILLYUV_STATE *state)
{
MMAL_COMPONENT_T *camera = 0;
MMAL_ES_FORMAT_T *format;
MMAL_PORT_T *preview_port = NULL, *video_port = NULL, *still_port = NULL;
MMAL_STATUS_T status;
MMAL_POOL_T *pool;
/* Create the component */
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to create camera component");
goto error;
}
MMAL_PARAMETER_INT32_T camera_num =
{{MMAL_PARAMETER_CAMERA_NUM, sizeof(camera_num)}, state->cameraNum};
status = mmal_port_parameter_set(camera->control, &camera_num.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Could not select camera : error %d", status);
goto error;
}
if (!camera->output_num)
{
status = MMAL_ENOSYS;
vcos_log_error("Camera doesn't have output ports");
goto error;
}
preview_port = camera->output[MMAL_CAMERA_PREVIEW_PORT];
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
if (state->settings)
{
MMAL_PARAMETER_CHANGE_EVENT_REQUEST_T change_event_request =
{{MMAL_PARAMETER_CHANGE_EVENT_REQUEST, sizeof(MMAL_PARAMETER_CHANGE_EVENT_REQUEST_T)},
MMAL_PARAMETER_CAMERA_SETTINGS, 1};
status = mmal_port_parameter_set(camera->control, &change_event_request.hdr);
if ( status != MMAL_SUCCESS )
{
vcos_log_error("No camera settings events");
}
}
// Enable the camera, and tell it its control callback function
status = mmal_port_enable(camera->control, camera_control_callback);
if (status != MMAL_SUCCESS )
{
vcos_log_error("Unable to enable control port : error %d", status);
goto error;
}
// set up the camera configuration
{
MMAL_PARAMETER_CAMERA_CONFIG_T cam_config =
{
{ MMAL_PARAMETER_CAMERA_CONFIG, sizeof(cam_config) },
.max_stills_w = state->width,
.max_stills_h = state->height,
.stills_yuv422 = 0,
.one_shot_stills = 1,
.max_preview_video_w = state->preview_parameters.previewWindow.width,
.max_preview_video_h = state->preview_parameters.previewWindow.height,
.num_preview_video_frames = 3,
.stills_capture_circular_buffer_height = 0,
.fast_preview_resume = 0,
.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC
};
if (state->fullResPreview)
{
cam_config.max_preview_video_w = state->width;
cam_config.max_preview_video_h = state->height;
}
mmal_port_parameter_set(camera->control, &cam_config.hdr);
}
raspicamcontrol_set_all_parameters(camera, &state->camera_parameters);
// Now set up the port formats
format = preview_port->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
if(state->camera_parameters.shutter_speed > 6000000)
{
MMAL_PARAMETER_FPS_RANGE_T fps_range = {{MMAL_PARAMETER_FPS_RANGE, sizeof(fps_range)},
{ 50, 1000 }, {166, 1000}};
mmal_port_parameter_set(preview_port, &fps_range.hdr);
}
else if(state->camera_parameters.shutter_speed > 1000000)
{
MMAL_PARAMETER_FPS_RANGE_T fps_range = {{MMAL_PARAMETER_FPS_RANGE, sizeof(fps_range)},
{ 166, 1000 }, {999, 1000}};
mmal_port_parameter_set(preview_port, &fps_range.hdr);
}
if (state->fullResPreview)
{
// In this mode we are forcing the preview to be generated from the full capture resolution.
// This runs at a max of 15fps with the OV5647 sensor.
format->es->video.width = VCOS_ALIGN_UP(state->width, 32);
format->es->video.height = VCOS_ALIGN_UP(state->height, 16);
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->width;
format->es->video.crop.height = state->height;
format->es->video.frame_rate.num = FULL_RES_PREVIEW_FRAME_RATE_NUM;
format->es->video.frame_rate.den = FULL_RES_PREVIEW_FRAME_RATE_DEN;
}
else
{
// Use a full FOV 4:3 mode
format->es->video.width = VCOS_ALIGN_UP(state->preview_parameters.previewWindow.width, 32);
format->es->video.height = VCOS_ALIGN_UP(state->preview_parameters.previewWindow.height, 16);
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->preview_parameters.previewWindow.width;
format->es->video.crop.height = state->preview_parameters.previewWindow.height;
format->es->video.frame_rate.num = PREVIEW_FRAME_RATE_NUM;
format->es->video.frame_rate.den = PREVIEW_FRAME_RATE_DEN;
}
status = mmal_port_format_commit(preview_port);
if (status != MMAL_SUCCESS )
{
vcos_log_error("camera viewfinder format couldn't be set");
goto error;
}
// Set the same format on the video port (which we dont use here)
mmal_format_full_copy(video_port->format, format);
status = mmal_port_format_commit(video_port);
if (status != MMAL_SUCCESS )
{
vcos_log_error("camera video format couldn't be set");
goto error;
}
// Ensure there are enough buffers to avoid dropping frames
if (video_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
video_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
format = still_port->format;
if(state->camera_parameters.shutter_speed > 6000000)
{
MMAL_PARAMETER_FPS_RANGE_T fps_range = {{MMAL_PARAMETER_FPS_RANGE, sizeof(fps_range)},
{ 50, 1000 }, {166, 1000}};
mmal_port_parameter_set(still_port, &fps_range.hdr);
}
else if(state->camera_parameters.shutter_speed > 1000000)
{
MMAL_PARAMETER_FPS_RANGE_T fps_range = {{MMAL_PARAMETER_FPS_RANGE, sizeof(fps_range)},
{ 167, 1000 }, {999, 1000}};
mmal_port_parameter_set(still_port, &fps_range.hdr);
}
// Set our stills format on the stills port
if (state->useRGB)
{
format->encoding = MMAL_ENCODING_BGR24;
format->encoding_variant = MMAL_ENCODING_BGR24;
}
else
{
format->encoding = MMAL_ENCODING_I420;
format->encoding_variant = MMAL_ENCODING_I420;
}
format->es->video.width = VCOS_ALIGN_UP(state->width, 32);
format->es->video.height = VCOS_ALIGN_UP(state->height, 16);
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->width;
format->es->video.crop.height = state->height;
format->es->video.frame_rate.num = STILLS_FRAME_RATE_NUM;
format->es->video.frame_rate.den = STILLS_FRAME_RATE_DEN;
if (still_port->buffer_size < still_port->buffer_size_min)
still_port->buffer_size = still_port->buffer_size_min;
still_port->buffer_num = still_port->buffer_num_recommended;
status = mmal_port_format_commit(still_port);
if (status != MMAL_SUCCESS )
{
vcos_log_error("camera still format couldn't be set");
goto error;
}
/* Enable component */
status = mmal_component_enable(camera);
if (status != MMAL_SUCCESS )
{
vcos_log_error("camera component couldn't be enabled");
goto error;
}
/* Create pool of buffer headers for the output port to consume */
pool = mmal_port_pool_create(still_port, still_port->buffer_num, still_port->buffer_size);
if (!pool)
{
vcos_log_error("Failed to create buffer header pool for camera still port %s", still_port->name);
}
state->camera_pool = pool;
state->camera_component = camera;
if (state->verbose)
fprintf(stderr, "Camera component done\n");
return status;
error:
if (camera)
mmal_component_destroy(camera);
return status;
}
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;
}
/**
* Create the encoder component, set up its ports
*
* @param state Pointer to state control struct
*
* @return 0 if failed, pointer to component if successful
*
*/
static MMAL_COMPONENT_T *create_encoder_component(RASPISTILL_STATE *state)
{
MMAL_COMPONENT_T *encoder = 0;
MMAL_PORT_T *encoder_input = NULL, *encoder_output = NULL;
MMAL_STATUS_T status;
MMAL_POOL_T *pool;
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_IMAGE_ENCODER, &encoder);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to create JPEG encoder component");
goto error;
}
if (!encoder->input_num || !encoder->output_num)
{
vcos_log_error("JPEG encoder doesn't have input/output ports");
goto error;
}
encoder_input = encoder->input[0];
encoder_output = encoder->output[0];
// We want same format on input and output
mmal_format_copy(encoder_output->format, encoder_input->format);
// Specify out output format
encoder_output->format->encoding = state->encoding;
encoder_output->buffer_size = encoder_output->buffer_size_recommended;
if (encoder_output->buffer_size < encoder_output->buffer_size_min)
encoder_output->buffer_size = encoder_output->buffer_size_min;
encoder_output->buffer_num = encoder_output->buffer_num_recommended;
if (encoder_output->buffer_num < encoder_output->buffer_num_min)
encoder_output->buffer_num = encoder_output->buffer_num_min;
// Commit the port changes to the output port
status = mmal_port_format_commit(encoder_output);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set format on video encoder output port");
goto error;
}
// Set the JPEG quality level
status = mmal_port_parameter_set_uint32(encoder_output, MMAL_PARAMETER_JPEG_Q_FACTOR, state->quality);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to set JPEG quality");
goto error;
}
// Enable component
status = mmal_component_enable(encoder);
if (status)
{
vcos_log_error("Unable to enable video encoder component");
goto error;
}
/* Create pool of buffer headers for the output port to consume */
pool = mmal_port_pool_create(encoder_output, encoder_output->buffer_num, encoder_output->buffer_size);
if (!pool)
{
vcos_log_error("Failed to create buffer header pool for encoder output port %s", encoder_output->name);
}
state->encoder_pool = pool;
state->encoder_component = encoder;
if (state->verbose)
fprintf(stderr, "Encoder component done\n");
return encoder;
error:
if (encoder)
mmal_component_destroy(encoder);
return 0;
}
void start_all (void) {
MMAL_STATUS_T status;
MMAL_ES_FORMAT_T *format;
int max, i;
unsigned int video_width, video_height;
//
// get resolution
//
if(preview_mode == RES_16_9_STD) {
video_width = 1920;
video_height = 1080;
}
else if(preview_mode == RES_16_9_WIDE) {
video_width = 1296;
video_height = 730;
}
else {
video_width = 1296;
video_height = 976;
}
//
// create camera
//
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera);
if(status != MMAL_SUCCESS) error("Could not create camera");
status = mmal_port_enable(camera->control, camera_control_callback);
if(status != MMAL_SUCCESS) error("Could not enable camera control port");
MMAL_PARAMETER_CAMERA_CONFIG_T cam_config = {
{MMAL_PARAMETER_CAMERA_CONFIG, sizeof(cam_config)},
.max_stills_w = 2592,
.max_stills_h = 1944,
.stills_yuv422 = 0,
.one_shot_stills = 1,
.max_preview_video_w = video_width,
.max_preview_video_h = video_height,
.num_preview_video_frames = 3,
.stills_capture_circular_buffer_height = 0,
.fast_preview_resume = 0,
.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC
};
mmal_port_parameter_set(camera->control, &cam_config.hdr);
format = camera->output[0]->format;
format->es->video.width = video_width;
format->es->video.height = video_height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = video_width;
format->es->video.crop.height = video_height;
format->es->video.frame_rate.num = 0;
format->es->video.frame_rate.den = 1;
status = mmal_port_format_commit(camera->output[0]);
if(status != MMAL_SUCCESS) error("Coult not set preview format");
format = camera->output[1]->format;
format->encoding_variant = MMAL_ENCODING_I420;
format->encoding = MMAL_ENCODING_OPAQUE;
format->es->video.width = video_width;
format->es->video.height = video_height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = video_width;
format->es->video.crop.height = video_height;
format->es->video.frame_rate.num = 25;
format->es->video.frame_rate.den = 1;
status = mmal_port_format_commit(camera->output[1]);
if(status != MMAL_SUCCESS) error("Could not set video format");
if(camera->output[1]->buffer_num < 3)
camera->output[1]->buffer_num = 3;
format = camera->output[2]->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->es->video.width = 2592;
format->es->video.height = 1944;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = 2592;
format->es->video.crop.height = 1944;
format->es->video.frame_rate.num = 0;
format->es->video.frame_rate.den = 1;
status = mmal_port_format_commit(camera->output[2]);
if(status != MMAL_SUCCESS) error("Could not set still format");
if(camera->output[2]->buffer_num < 3)
camera->output[2]->buffer_num = 3;
status = mmal_component_enable(camera);
if(status != MMAL_SUCCESS) error("Could not enable camera");
//
// create jpeg-encoder
//
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_IMAGE_ENCODER, &jpegencoder);
if(status != MMAL_SUCCESS && status != MMAL_ENOSYS) error("Could not create image encoder");
mmal_format_copy(jpegencoder->output[0]->format, jpegencoder->input[0]->format);
jpegencoder->output[0]->format->encoding = MMAL_ENCODING_JPEG;
jpegencoder->output[0]->buffer_size = jpegencoder->output[0]->buffer_size_recommended;
if(jpegencoder->output[0]->buffer_size < jpegencoder->output[0]->buffer_size_min)
jpegencoder->output[0]->buffer_size = jpegencoder->output[0]->buffer_size_min;
jpegencoder->output[0]->buffer_num = jpegencoder->output[0]->buffer_num_recommended;
if(jpegencoder->output[0]->buffer_num < jpegencoder->output[0]->buffer_num_min)
jpegencoder->output[0]->buffer_num = jpegencoder->output[0]->buffer_num_min;
status = mmal_port_format_commit(jpegencoder->output[0]);
if(status != MMAL_SUCCESS) error("Could not set image format");
status = mmal_port_parameter_set_uint32(jpegencoder->output[0], MMAL_PARAMETER_JPEG_Q_FACTOR, quality);
if(status != MMAL_SUCCESS) error("Could not set jpeg quality");
status = mmal_component_enable(jpegencoder);
if(status != MMAL_SUCCESS) error("Could not enable image encoder");
pool_jpegencoder = mmal_port_pool_create(jpegencoder->output[0], jpegencoder->output[0]->buffer_num, jpegencoder->output[0]->buffer_size);
if(!pool_jpegencoder) error("Could not create image buffer pool");
//
// create second jpeg-encoder
//
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_IMAGE_ENCODER, &jpegencoder2);
if(status != MMAL_SUCCESS && status != MMAL_ENOSYS) error("Could not create image encoder 2");
mmal_format_copy(jpegencoder2->output[0]->format, jpegencoder2->input[0]->format);
jpegencoder2->output[0]->format->encoding = MMAL_ENCODING_JPEG;
jpegencoder2->output[0]->buffer_size = jpegencoder2->output[0]->buffer_size_recommended;
if(jpegencoder2->output[0]->buffer_size < jpegencoder2->output[0]->buffer_size_min)
jpegencoder2->output[0]->buffer_size = jpegencoder2->output[0]->buffer_size_min;
jpegencoder2->output[0]->buffer_num = jpegencoder2->output[0]->buffer_num_recommended;
if(jpegencoder2->output[0]->buffer_num < jpegencoder2->output[0]->buffer_num_min)
jpegencoder2->output[0]->buffer_num = jpegencoder2->output[0]->buffer_num_min;
status = mmal_port_format_commit(jpegencoder2->output[0]);
if(status != MMAL_SUCCESS) error("Could not set image format 2");
status = mmal_port_parameter_set_uint32(jpegencoder2->output[0], MMAL_PARAMETER_JPEG_Q_FACTOR, 85);
if(status != MMAL_SUCCESS) error("Could not set jpeg quality 2");
status = mmal_component_enable(jpegencoder2);
if(status != MMAL_SUCCESS) error("Could not enable image encoder 2");
pool_jpegencoder2 = mmal_port_pool_create(jpegencoder2->output[0], jpegencoder2->output[0]->buffer_num, jpegencoder2->output[0]->buffer_size);
if(!pool_jpegencoder2) error("Could not create image buffer pool 2");
//
// create h264-encoder
//
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_ENCODER, &h264encoder);
if(status != MMAL_SUCCESS && status != MMAL_ENOSYS) error("Could not create video encoder");
mmal_format_copy(h264encoder->output[0]->format, h264encoder->input[0]->format);
h264encoder->output[0]->format->encoding = MMAL_ENCODING_H264;
h264encoder->output[0]->format->bitrate = 17000000;
h264encoder->output[0]->buffer_size = h264encoder->output[0]->buffer_size_recommended;
if(h264encoder->output[0]->buffer_size < h264encoder->output[0]->buffer_size_min)
h264encoder->output[0]->buffer_size = h264encoder->output[0]->buffer_size_min;
h264encoder->output[0]->buffer_num = h264encoder->output[0]->buffer_num_recommended;
if(h264encoder->output[0]->buffer_num < h264encoder->output[0]->buffer_num_min)
h264encoder->output[0]->buffer_num = h264encoder->output[0]->buffer_num_min;
h264encoder->output[0]->format->es->video.frame_rate.num = 0;
h264encoder->output[0]->format->es->video.frame_rate.den = 1;
status = mmal_port_format_commit(h264encoder->output[0]);
if(status != MMAL_SUCCESS) error("Could not set video format");
MMAL_PARAMETER_UINT32_T param2 = {{ MMAL_PARAMETER_VIDEO_ENCODE_INITIAL_QUANT, sizeof(param2)}, 25};
status = mmal_port_parameter_set(h264encoder->output[0], ¶m2.hdr);
if(status != MMAL_SUCCESS) error("Could not set video quantisation");
MMAL_PARAMETER_UINT32_T param3 = {{ MMAL_PARAMETER_VIDEO_ENCODE_QP_P, sizeof(param3)}, 31};
status = mmal_port_parameter_set(h264encoder->output[0], ¶m3.hdr);
if(status != MMAL_SUCCESS) error("Could not set video quantisation");
MMAL_PARAMETER_VIDEO_PROFILE_T param4;
param4.hdr.id = MMAL_PARAMETER_PROFILE;
param4.hdr.size = sizeof(param4);
param4.profile[0].profile = MMAL_VIDEO_PROFILE_H264_HIGH;
param4.profile[0].level = MMAL_VIDEO_LEVEL_H264_4;
status = mmal_port_parameter_set(h264encoder->output[0], ¶m4.hdr);
if(status != MMAL_SUCCESS) error("Could not set video port format");
status = mmal_port_parameter_set_boolean(h264encoder->input[0], MMAL_PARAMETER_VIDEO_IMMUTABLE_INPUT, 1);
if(status != MMAL_SUCCESS) error("Could not set immutable flag");
status = mmal_port_parameter_set_boolean(h264encoder->output[0], MMAL_PARAMETER_VIDEO_ENCODE_INLINE_HEADER, 0);
if(status != MMAL_SUCCESS) error("Could not set inline flag");
//
// create image-resizer
//
status = mmal_component_create("vc.ril.resize", &resizer);
if(status != MMAL_SUCCESS && status != MMAL_ENOSYS) error("Could not create image resizer");
format = resizer->output[0]->format;
format->es->video.width = (preview_mode==RES_4_3) ? width_pic : width;
format->es->video.height = (preview_mode==RES_4_3) ? height_pic : height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = (preview_mode==RES_4_3) ? width_pic : width;
format->es->video.crop.height = (preview_mode==RES_4_3) ? height_pic : height;
format->es->video.frame_rate.num = 30;
format->es->video.frame_rate.den = 1;
status = mmal_port_format_commit(resizer->output[0]);
if(status != MMAL_SUCCESS) error("Could not set image resizer output");
status = mmal_component_enable(resizer);
if(status != MMAL_SUCCESS) error("Could not enable image resizer");
//
// connect
//
status = mmal_connection_create(&con_cam_res, camera->output[0], resizer->input[0], MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if(status != MMAL_SUCCESS) error("Could not create connection camera -> resizer");
status = mmal_connection_enable(con_cam_res);
if(status != MMAL_SUCCESS) error("Could not enable connection camera -> resizer");
status = mmal_connection_create(&con_res_jpeg, resizer->output[0], jpegencoder->input[0], MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if(status != MMAL_SUCCESS) error("Could not create connection resizer -> encoder");
status = mmal_connection_enable(con_res_jpeg);
if(status != MMAL_SUCCESS) error("Could not enable connection resizer -> encoder");
status = mmal_port_enable(jpegencoder->output[0], jpegencoder_buffer_callback);
if(status != MMAL_SUCCESS) error("Could not enable jpeg port");
max = mmal_queue_length(pool_jpegencoder->queue);
for(i=0;i<max;i++) {
MMAL_BUFFER_HEADER_T *jpegbuffer = mmal_queue_get(pool_jpegencoder->queue);
if(!jpegbuffer) error("Could not create jpeg buffer header");
status = mmal_port_send_buffer(jpegencoder->output[0], jpegbuffer);
if(status != MMAL_SUCCESS) error("Could not send buffers to jpeg port");
}
status = mmal_connection_create(&con_cam_jpeg, camera->output[2], jpegencoder2->input[0], MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if(status != MMAL_SUCCESS) error("Could not create connection camera -> encoder");
status = mmal_connection_enable(con_cam_jpeg);
if(status != MMAL_SUCCESS) error("Could not enable connection camera -> encoder");
status = mmal_port_enable(jpegencoder2->output[0], jpegencoder2_buffer_callback);
if(status != MMAL_SUCCESS) error("Could not enable jpeg port 2");
max = mmal_queue_length(pool_jpegencoder2->queue);
for(i=0;i<max;i++) {
MMAL_BUFFER_HEADER_T *jpegbuffer2 = mmal_queue_get(pool_jpegencoder2->queue);
if(!jpegbuffer2) error("Could not create jpeg buffer header 2");
status = mmal_port_send_buffer(jpegencoder2->output[0], jpegbuffer2);
if(status != MMAL_SUCCESS) error("Could not send buffers to jpeg port 2");
}
}
