static void deviceUninit(void)
{
unsigned int i;
switch (io) {
#ifdef IO_READ
case IO_METHOD_READ:
free(buffers[0].start);
break;
#endif
#ifdef IO_MMAP
case IO_METHOD_MMAP:
for (i = 0; i < n_buffers; ++i)
if (-1 == v4l2_munmap(buffers[i].start, buffers[i].length))
errno_exit("munmap");
break;
#endif
#ifdef IO_USERPTR
case IO_METHOD_USERPTR:
for (i = 0; i < n_buffers; ++i)
free(buffers[i].start);
break;
#endif
}
free(buffers);
}
/* API: Destroy stream. */
static pj_status_t vid4lin_stream_destroy(pjmedia_vid_dev_stream *strm)
{
vid4lin_stream *stream = (vid4lin_stream*)strm;
unsigned i;
PJ_ASSERT_RETURN(stream != NULL, PJ_EINVAL);
vid4lin_stream_stop(strm);
PJ_LOG(4, (THIS_FILE, "Destroying v4l2 video stream %s", stream->name));
for (i=0; i<stream->buf_cnt; ++i) {
if (stream->buffers[i].start != MAP_FAILED) {
v4l2_munmap(stream->buffers[i].start, stream->buffers[i].length);
stream->buffers[i].start = MAP_FAILED;
}
}
if (stream->fd >= 0) {
v4l2_close(stream->fd);
stream->fd = -1;
}
pj_pool_release(stream->pool);
return PJ_SUCCESS;
}
void StopCapture()
{
if( !mCapturing ) return;
mCapturing = false;
if( mIO == READ )
{
delete[] mBuffers[0].start;
}
else
{
// stop streaming
v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl( mFd, VIDIOC_STREAMOFF, &type );
if( mIO == USERPTR )
{
// free memory
for( size_t i = 0; i < mBuffers.size(); ++i )
delete[] mBuffers[i].start;
}
else
{
// unmap memory
for( size_t i = 0; i < mBuffers.size(); ++i )
if( -1 == v4l2_munmap(mBuffers[i].start, mBuffers[i].length) )
THROW( "munmap() failed!" );
}
}
}
static void
gst_v4l2_buffer_pool_free_buffer (GstBufferPool * bpool, GstBuffer * buffer)
{
GstV4l2BufferPool *pool = GST_V4L2_BUFFER_POOL (bpool);
GstV4l2Object *obj;
obj = pool->obj;
switch (obj->mode) {
case GST_V4L2_IO_RW:
break;
case GST_V4L2_IO_MMAP:
{
GstV4l2Meta *meta;
gint index;
meta = GST_V4L2_META_GET (buffer);
g_assert (meta != NULL);
index = meta->vbuffer.index;
GST_LOG_OBJECT (pool,
"mmap buffer %p idx %d (data %p, len %u) freed, unmapping", buffer,
index, meta->mem, meta->vbuffer.length);
v4l2_munmap (meta->mem, meta->vbuffer.length);
pool->buffers[index] = NULL;
break;
}
case GST_V4L2_IO_USERPTR:
default:
g_assert_not_reached ();
break;
}
gst_buffer_unref (buffer);
}
int Video_in_Manager::CloseDeviceInternal()
{
if(verbose) printf("CloseDeviceInternal\n");
if(this->fd == -1)
{
throw std::runtime_error("Device not open");
}
if(this->deviceStarted)
StopDeviceInternal();
if(this->buffers!= NULL)
{
for(int i = 0; i < this->buffer_counts; i++)
{
v4l2_munmap(this->buffers[i].start, this->buffers[i].length);
}
delete [] this->buffers;
}
this->buffers = NULL;
//Release memory
v4l2_close(fd);
fd = -1;
return 1;
}
void uninit_device(int vd)
{
unsigned int i;
for (i = 0; i < n_buffers; ++i)
if (-1 == v4l2_munmap(buffers[i].start, buffers[i].length))
// errno_exit("munmap");
free(buffers);
}
void cameraClose()
{
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl(fd, VIDIOC_STREAMOFF, &type);
for (i = 0; i < n_buffers; ++i)
v4l2_munmap(buffers[i].start, buffers[i].length);
v4l2_close(fd);
}
static void Video_device_unmap(Video_device *self)
{
int i;
for(i = 0; i < self->buffer_count; i++)
{
v4l2_munmap(self->buffers[i].start, self->buffers[i].length);
}
}
static int uninit_device (void) {
unsigned int i;
for (i = 0; i < n_buffers; ++i)
if (-1 == v4l2_munmap (buffers[i].start, buffers[i].length))
return -1;
free (buffers);
return 0;
}
static void
gst_v4l2_buffer_finalize (GstV4l2Buffer * buffer)
{
GstV4l2BufferPool *pool;
gboolean resuscitated = FALSE;
gint index;
pool = buffer->pool;
index = buffer->vbuffer.index;
GST_LOG_OBJECT (pool->v4l2elem, "finalizing buffer %p %d", buffer, index);
GST_V4L2_BUFFER_POOL_LOCK (pool);
if (pool->running) {
if (pool->requeuebuf) {
if (!gst_v4l2_buffer_pool_qbuf (pool, buffer)) {
GST_WARNING ("could not requeue buffer %p %d", buffer, index);
} else {
resuscitated = TRUE;
}
} else {
resuscitated = TRUE;
/* XXX double check this... I think it is ok to not synchronize this
* w.r.t. destruction of the pool, since the buffer is still live and
* the buffer holds a ref to the pool..
*/
g_async_queue_push (pool->avail_buffers, buffer);
}
} else {
GST_LOG_OBJECT (pool->v4l2elem, "the pool is shutting down");
}
if (resuscitated) {
/* FIXME: check that the caps didn't change */
GST_LOG_OBJECT (pool->v4l2elem, "reviving buffer %p, %d", buffer, index);
gst_buffer_ref (GST_BUFFER (buffer));
GST_BUFFER_SIZE (buffer) = 0;
GST_BUFFER_FLAG_UNSET (buffer, GST_BUFFER_FLAG_DISCONT);
pool->buffers[index] = buffer;
}
GST_V4L2_BUFFER_POOL_UNLOCK (pool);
if (!resuscitated) {
GST_LOG_OBJECT (pool->v4l2elem,
"buffer %p (data %p, len %u) not recovered, unmapping",
buffer, GST_BUFFER_DATA (buffer), buffer->mmap_length);
gst_mini_object_unref (GST_MINI_OBJECT (pool));
v4l2_munmap ((void *) GST_BUFFER_DATA (buffer), buffer->mmap_length);
GST_MINI_OBJECT_CLASS (v4l2buffer_parent_class)->finalize (GST_MINI_OBJECT
(buffer));
}
}
static void uninit_device(struct vidsrc_st *st)
{
unsigned int i;
for (i=0; i<st->n_buffers; ++i) {
v4l2_munmap(st->buffers[i].start, st->buffers[i].length);
}
st->buffers = mem_deref(st->buffers);
st->n_buffers = 0;
}
int CamaraClose(struct camera_context *cam){
enum v4l2_buf_type type;
int i;
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl(cam->fd, VIDIOC_STREAMOFF, &type);
for (i = 0; i < cam->buf_data.buf_n; ++i)
v4l2_munmap(cam->buf_data.start[i], cam->buf_data.length[i]);
v4l2_close(cam->fd);
return 0;
}
int CaptureThread::stop() {
running = false;
devam=false;
mutex.lock();
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl(fd, VIDIOC_STREAMOFF, &type);
for (unsigned int i = 0; i < n_buffers; ++i)
v4l2_munmap(buffers[i].start, buffers[i].length);
v4l2_close(fd);
fd = -1;
mutex.unlock();
quit();
return 0;
}
void VideoGrabV4L2::release()
{
delete[] frame.imageData;
frame.imageData = 0;
frame.width = 0; frame.height = 0;
v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl(fd, VIDIOC_STREAMOFF, &type);
for (unsigned int i = 0; i < n_buffers; ++i)
v4l2_munmap(buffers[i].start, buffers[i].length);
n_buffers = 0;
v4l2_close(fd);
fd = -1;
}
USBGrabber::~USBGrabber() {
enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (v4l2_ioctl(mFd, VIDIOC_STREAMOFF, &type) < 0 ) {
error("Can't stop streaming I/O\n");
}
for (size_t i = 0; i < mBuffers; i++)
{
v4l2_munmap(mBuf[i].start, mBuf[i].length);
}
free(mBuf);
v4l2_close(mFd);
mFd = 0;
}
void
V4LThread::CloseSource()
{
unsigned int i;
enum v4l2_buf_type type;
// stop streaming
type = V4L2_BUF_TYPE_SDR_CAPTURE;
xioctl(fd, VIDIOC_STREAMOFF, &type);
for (i = 0; i < n_buffers; i++)
v4l2_munmap(buffers[i].start, buffers[i].length);
v4l2_close(fd);
fd = -1;
}
VideoCapture::~VideoCapture(void)
{
// Video 4 Linux library implementation.
#if defined(DUNE_SYS_HAS_LIBV4L2_H)
stop();
for (unsigned i = 0; i < m_bfr_req->count; ++i)
v4l2_munmap(m_bfrs[i].start, m_bfrs[i].length);
v4l2_close(m_fd);
free(m_bfrs);
delete m_bfr_req;
delete m_bfr;
delete m_fmt;
#endif
}
static int tc_v4l2_video_grab_stop(V4L2Source *vs)
{
int ix, ret;
tc_v4l2_teardown_image_format(vs);
ret = tc_v4l2_capture_stop(vs);
RETURN_IF_FAILED(ret);
for (ix = 0; ix < vs->buffers_count; ix++)
v4l2_munmap(vs->buffers[ix].start, vs->buffers[ix].length);
v4l2_close(vs->video_fd);
vs->video_fd = -1;
return TC_OK;
}
static void msv4l2_do_munmap(V4l2State *s){
int i;
enum v4l2_buf_type type;
/*stop capture immediately*/
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 ==v4l2_ioctl (s->fd, VIDIOC_STREAMOFF, &type)){
ms_error("VIDIOC_STREAMOFF failed: %s",strerror(errno));
}
for(i=0;i<s->frame_max;++i){
mblk_t *msg=s->frames[i]->b_cont;
int len=msg->b_datap->db_lim-msg->b_datap->db_base;
if (v4l2_munmap(msg->b_datap->db_base,len)<0){
ms_warning("MSV4l2: Fail to unmap: %s",strerror(errno));
}
freemsg(s->frames[i]);
s->frames[i]=NULL;
}
}
int v4l1_munmap(void *_start, size_t length)
{
int index;
unsigned char *start = _start;
/* Is this memory ours? */
if (start != MAP_FAILED &&
length == (V4L1_FRAME_BUF_SIZE * V4L1_NO_FRAMES)) {
for (index = 0; index < devices_used; index++)
if (devices[index].fd != -1 &&
start == devices[index].v4l1_frame_pointer)
break;
if (index != devices_used) {
int unmapped = 0;
pthread_mutex_lock(&devices[index].stream_lock);
/* Redo our checks now that we have the lock, things may have changed */
if (start == devices[index].v4l1_frame_pointer) {
if (devices[index].v4l1_frame_buf_map_count > 0)
devices[index].v4l1_frame_buf_map_count--;
unmapped = 1;
}
pthread_mutex_unlock(&devices[index].stream_lock);
if (unmapped) {
V4L1_LOG("v4l1 buffer munmap %p, %d\n", start, (int)length);
return 0;
}
}
}
V4L1_LOG("v4l1 unknown munmap %p, %d\n", start, (int)length);
/* If not pass through libv4l2 for applications which are using v4l2 through
libv4l1 (this can happen with the v4l1compat.so wrapper preloaded */
return v4l2_munmap(start, length);
}
static void uninit_device(void)
{
int i;
switch (io) {
case IO_METHOD_READ:
free(buffers[0].start);
break;
case V4L2_MEMORY_MMAP:
for (i = 0; i < n_buffers; ++i)
if (-1 ==
v4l2_munmap(buffers[i].start, buffers[i].length))
errno_exit("munmap");
break;
case V4L2_MEMORY_USERPTR:
for (i = 0; i < n_buffers; ++i)
free(buffers[i].start);
break;
}
free(buffers);
}
static void
gst_v4l2_allocator_free (GstAllocator * gallocator, GstMemory * gmem)
{
GstV4l2Allocator *allocator = (GstV4l2Allocator *) gallocator;
GstV4l2Memory *mem = (GstV4l2Memory *) gmem;
GstV4l2MemoryGroup *group = mem->group;
/* Only free unparented memory */
if (mem->mem.parent == NULL) {
GST_LOG_OBJECT (allocator, "freeing plane %i of buffer %u",
mem->plane, group->buffer.index);
if (allocator->memory == V4L2_MEMORY_MMAP) {
if (mem->data)
v4l2_munmap (mem->data, group->planes[mem->plane].length);
}
/* This apply for both mmap with expbuf, and dmabuf imported memory */
if (mem->dmafd >= 0)
close (mem->dmafd);
}
g_slice_free (GstV4l2Memory, mem);
}
int main(int argc, char **argv)
{
struct v4l2_format fmt;
struct v4l2_buffer buf;
struct v4l2_requestbuffers req;
enum v4l2_buf_type type;
fd_set fds;
struct timeval tv;
int r, fd = -1;
unsigned int i, n_buffers;
char *dev_name = "/dev/video0";
char out_name[256];
FILE *fout;
struct buffer *buffers;
fd = v4l2_open(dev_name, O_RDWR | O_NONBLOCK, 0);
if (fd < 0) {
perror("Cannot open device");
exit(EXIT_FAILURE);
}
CLEAR(fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = 80;
fmt.fmt.pix.height = 60;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
fmt.fmt.pix.field = V4L2_FIELD_NONE;
xioctl(fd, VIDIOC_S_FMT, &fmt);
if (fmt.fmt.pix.pixelformat != V4L2_PIX_FMT_YUYV) {
printf("Libv4l didn't accept RGB24 format. Can't proceed.\n");
exit(EXIT_FAILURE);
}
if ((fmt.fmt.pix.width != 80) || (fmt.fmt.pix.height != 60))
printf("Warning: driver is sending image at %dx%d\n",
fmt.fmt.pix.width, fmt.fmt.pix.height);
CLEAR(req);
req.count = 2;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
xioctl(fd, VIDIOC_REQBUFS, &req);
buffers = calloc(req.count, sizeof(*buffers));
for (n_buffers = 0; n_buffers < req.count; ++n_buffers) {
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = n_buffers;
xioctl(fd, VIDIOC_QUERYBUF, &buf);
buffers[n_buffers].length = buf.length;
buffers[n_buffers].start = v4l2_mmap(NULL, buf.length,
PROT_READ | PROT_WRITE, MAP_SHARED,
fd, buf.m.offset);
if (MAP_FAILED == buffers[n_buffers].start) {
perror("mmap");
exit(EXIT_FAILURE);
}
}
for (i = 0; i < n_buffers; ++i) {
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;
xioctl(fd, VIDIOC_QBUF, &buf);
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl(fd, VIDIOC_STREAMON, &type);
for (i = 0; i < 20; i++) {
do {
FD_ZERO(&fds);
FD_SET(fd, &fds);
/* Timeout. */
tv.tv_sec = 2;
tv.tv_usec = 0;
r = select(fd + 1, &fds, NULL, NULL, &tv);
} while ((r == -1 && (errno = EINTR)));
if (r == -1) {
perror("select");
return errno;
}
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
xioctl(fd, VIDIOC_DQBUF, &buf);
sprintf(out_name, "out%03d.ppm", i);
fout = fopen(out_name, "w");
if (!fout) {
perror("Cannot open image");
exit(EXIT_FAILURE);
}
fprintf(fout, "P6\n%d %d 255\n",
fmt.fmt.pix.width, fmt.fmt.pix.height);
fwrite(buffers[buf.index].start, buf.bytesused, 1, fout);
fclose(fout);
xioctl(fd, VIDIOC_QBUF, &buf);
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl(fd, VIDIOC_STREAMOFF, &type);
for (i = 0; i < n_buffers; ++i)
v4l2_munmap(buffers[i].start, buffers[i].length);
v4l2_close(fd);
return 0;
}
static int capture(char *dev_name, int x_res, int y_res, int n_frames,
char *out_dir)
{
struct v4l2_format fmt;
struct v4l2_buffer buf;
struct v4l2_requestbuffers req;
enum v4l2_buf_type type;
fd_set fds;
struct timeval tv;
int r, fd = -1;
unsigned int i, j, n_buffers;
struct buffer *buffers;
Display *dpy;
Window win;
int num_textures = 1;
GLuint texture_id[num_textures];
Window root;
XVisualInfo *vi;
XSetWindowAttributes swa;
GLXContext glc;
GLint att[] = {
GLX_RGBA, GLX_DEPTH_SIZE, 24, GLX_DOUBLEBUFFER, None
};
dpy = XOpenDisplay(NULL);
if (!dpy) {
printf("\tcannot open display.\n");
exit(EXIT_FAILURE);
}
root = DefaultRootWindow(dpy);
vi = glXChooseVisual(dpy, 0, att);
if (!vi) {
printf("no appropriate visual found.\n");
exit(EXIT_FAILURE);
}
swa.event_mask = ExposureMask | KeyPressMask;
swa.colormap = XCreateColormap(dpy, root, vi->visual, AllocNone);
fd = v4l2_open(dev_name, O_RDWR | O_NONBLOCK, 0);
if (fd < 0) {
perror("Cannot open device");
exit(EXIT_FAILURE);
}
CLEAR(fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = x_res;
fmt.fmt.pix.height = y_res;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB24;
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
xioctl(fd, VIDIOC_S_FMT, &fmt);
if ((fmt.fmt.pix.width != x_res) || (fmt.fmt.pix.height != y_res))
printf("Warning: driver is sending image at %dx%d\n",
fmt.fmt.pix.width, fmt.fmt.pix.height);
printf("Fourcc format: %c%c%c%c\n",
fmt.fmt.pix.pixelformat & 0xff,
(fmt.fmt.pix.pixelformat >> 8) &0xff,
(fmt.fmt.pix.pixelformat >> 16) &0xff,
(fmt.fmt.pix.pixelformat >> 24) &0xff);
win = XCreateWindow(dpy, root, 0, 0,
fmt.fmt.pix.width, fmt.fmt.pix.height, 0, vi->depth,
InputOutput, vi->visual, CWEventMask | CWColormap,
&swa);
XMapWindow(dpy, win);
XStoreName(dpy, win, dev_name);
glc = glXCreateContext(dpy, vi, NULL, GL_TRUE);
if (glc == NULL) {
printf("\n\tcannot create gl context\n\n");
exit(0);
}
glXMakeCurrent(dpy, win, glc);
glEnable(GL_DEPTH_TEST);
XCreatePixmap(dpy, root,
fmt.fmt.pix.width, fmt.fmt.pix.height,
vi->depth);
glEnable(GL_TEXTURE_2D);
glGenTextures(1, texture_id);
for (j = 0; j < num_textures; j++) {
glActiveTexture(GL_TEXTURE0 + j);
glBindTexture(GL_TEXTURE_2D, texture_id[j]);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glEnable(GL_TEXTURE_2D);
}
CLEAR(req);
req.count = 2;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
xioctl(fd, VIDIOC_REQBUFS, &req);
buffers = calloc(req.count, sizeof(*buffers));
for (n_buffers = 0; n_buffers < req.count; ++n_buffers) {
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = n_buffers;
xioctl(fd, VIDIOC_QUERYBUF, &buf);
buffers[n_buffers].length = buf.length;
buffers[n_buffers].start = v4l2_mmap(NULL, buf.length,
PROT_READ | PROT_WRITE, MAP_SHARED,
fd, buf.m.offset);
if (MAP_FAILED == buffers[n_buffers].start) {
perror("mmap");
exit(EXIT_FAILURE);
}
}
for (i = 0; i < n_buffers; ++i) {
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;
xioctl(fd, VIDIOC_QBUF, &buf);
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl(fd, VIDIOC_STREAMON, &type);
i = 0;
while (i < n_frames || n_frames <= 0) {
/* Request new buffer */
if (i)
xioctl(fd, VIDIOC_QBUF, &buf);
do {
FD_ZERO(&fds);
FD_SET(fd, &fds);
/* Timeout. */
tv.tv_sec = 2;
tv.tv_usec = 0;
r = select(fd + 1, &fds, NULL, NULL, &tv);
} while ((r == -1 && (errno == EINTR)));
if (r == -1) {
perror("select");
return errno;
}
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
xioctl(fd, VIDIOC_DQBUF, &buf);
/*
* Display the image via GL - for RGB, only one texture is enough
*/
for (j = 0; j < num_textures; j++) {
glActiveTexture(GL_TEXTURE0 + j);
glBindTexture(GL_TEXTURE_2D, texture_id[j]);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB,
fmt.fmt.pix.width, fmt.fmt.pix.height, 0,
GL_RGB, GL_UNSIGNED_BYTE,
((char *)buffers[buf.index].start) + j);
}
Redraw(dpy, win);
i++;
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl(fd, VIDIOC_STREAMOFF, &type);
for (i = 0; i < n_buffers; ++i)
v4l2_munmap(buffers[i].start, buffers[i].length);
v4l2_close(fd);
return 0;
}
int v4l2::munmap(void *start, size_t length)
{
if (useWrapper())
return v4l2_munmap(start, length);
return ::munmap(start, length);
}
void *module_camera_main(void *args)
{
struct v4l2_format fmt = {0};
struct v4l2_buffer buf = {0};
struct v4l2_requestbuffers req = {0};
enum v4l2_buf_type type;
struct {
void *start;
size_t length;
} *buffers = NULL;
fd_set rfds;
struct timeval tv = { 3, 0 };
int i, camfd = -1;
char *dataptr = NULL;
long datalen = 0;
unsigned int quality = 90;
debugme("Module CAMERA executed\n");
if(initlib(INIT_LIBV4L2|INIT_LIBJPEG)) return NULL;
if(MODULE_CAMERA_P) quality = MODULE_CAMERA_P->quality;
do {
if((camfd = v4l2_open(SO"/dev/video0", O_RDWR | O_NONBLOCK, 0)) < 0) break;
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = 640;
fmt.fmt.pix.height = 480;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB24;
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
if(v4l2_ioctl(camfd, VIDIOC_S_FMT, &fmt) == -1) break;
if(fmt.fmt.pix.pixelformat != V4L2_PIX_FMT_RGB24) break;
req.count = 2;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
if(v4l2_ioctl(camfd, VIDIOC_REQBUFS, &req) == -1) break;
if(!(buffers = calloc(req.count, sizeof(*buffers)))) break;
for(i = 0; i < req.count; i++) {
memset(&buf, 0x00, sizeof(buf));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;
if(v4l2_ioctl(camfd, VIDIOC_QUERYBUF, &buf) == -1) break;
buffers[i].length = buf.length;
if((buffers[i].start = v4l2_mmap(NULL, buf.length, PROT_READ|PROT_WRITE, MAP_SHARED, camfd, buf.m.offset)) == MAP_FAILED) break;
}
if(i != req.count) break;
for(i = 0; i < req.count; i++) {
memset(&buf, 0x00, sizeof(buf));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;
if(v4l2_ioctl(camfd, VIDIOC_QBUF, &buf) == -1) break;
}
if(i != req.count) break;
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if(v4l2_ioctl(camfd, VIDIOC_STREAMON, &type) == -1) break;
FD_ZERO(&rfds);
FD_SET(camfd, &rfds);
if((i = select(camfd + 1, &rfds, NULL, NULL, &tv)) <= 0) break;
memset(&buf, 0x00, sizeof(buf));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
if(v4l2_ioctl(camfd, VIDIOC_DQBUF, &buf) == -1) break;
if(!(datalen = encodeimage(buffers[buf.index].start, fmt.fmt.pix.width, fmt.fmt.pix.height, quality, &dataptr))) break;
evidence_write(EVIDENCE_TYPE_CAMERA, NULL, 0, dataptr, datalen);
} while(0);
if(camfd != -1) {
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
v4l2_ioctl(camfd, VIDIOC_STREAMOFF, &type);
}
for(i = 0; i < req.count; i++) v4l2_munmap(buffers[i].start, buffers[i].length);
if(camfd != -1) v4l2_close(camfd);
if(dataptr) free(dataptr);
if(buffers) free(buffers);
debugme("Module CAMERA ended\n");
return NULL;
}
void DemuxClose( vlc_object_t *obj )
{
demux_t *demux = (demux_t *)obj;
demux_sys_t *sys = demux->p_sys;
int fd = sys->i_fd;
/* Stop video capture */
switch( sys->io )
{
case IO_METHOD_READ:
/* Nothing to do */
break;
case IO_METHOD_MMAP:
case IO_METHOD_USERPTR:
{
/* NOTE: Some buggy drivers hang if buffers are not unmapped before
* streamoff */
for( unsigned i = 0; i < sys->i_nbuffers; i++ )
{
struct v4l2_buffer buf = {
.type = V4L2_BUF_TYPE_VIDEO_CAPTURE,
.memory = ( sys->io == IO_METHOD_USERPTR ) ?
V4L2_MEMORY_USERPTR : V4L2_MEMORY_MMAP,
};
v4l2_ioctl( fd, VIDIOC_DQBUF, &buf );
}
enum v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
v4l2_ioctl( sys->i_fd, VIDIOC_STREAMOFF, &buf_type );
break;
}
}
/* Free Video Buffers */
if( sys->p_buffers ) {
switch( sys->io )
{
case IO_METHOD_READ:
free( sys->p_buffers[0].start );
break;
case IO_METHOD_MMAP:
for( unsigned i = 0; i < sys->i_nbuffers; ++i )
v4l2_munmap( sys->p_buffers[i].start,
sys->p_buffers[i].length );
break;
case IO_METHOD_USERPTR:
for( unsigned i = 0; i < sys->i_nbuffers; ++i )
free( sys->p_buffers[i].start );
break;
}
free( sys->p_buffers );
}
ControlsDeinit( obj, sys->controls );
v4l2_close( fd );
free( sys );
}
static int DemuxControl( demux_t *demux, int query, va_list args )
{
switch( query )
{
/* Special for access_demux */
case DEMUX_CAN_PAUSE:
case DEMUX_CAN_SEEK:
case DEMUX_CAN_CONTROL_PACE:
*va_arg( args, bool * ) = false;
return VLC_SUCCESS;
case DEMUX_GET_PTS_DELAY:
*va_arg(args,int64_t *) = INT64_C(1000)
* var_InheritInteger( demux, "live-caching" );
return VLC_SUCCESS;
case DEMUX_GET_TIME:
*va_arg( args, int64_t * ) = mdate();
return VLC_SUCCESS;
/* TODO implement others */
default:
return VLC_EGENERIC;
}
return VLC_EGENERIC;
}
/** Gets a frame in read/write mode */
static block_t *BlockRead( vlc_object_t *obj, int fd, size_t size )
{
block_t *block = block_Alloc( size );
if( unlikely(block == NULL) )
return NULL;
ssize_t val = v4l2_read( fd, block->p_buffer, size );
if( val == -1 )
{
block_Release( block );
switch( errno )
{
case EAGAIN:
return NULL;
case EIO: /* could be ignored per specification */
/* fall through */
default:
msg_Err( obj, "cannot read frame: %m" );
return NULL;
}
}
block->i_buffer = val;
return block;
}
void CaptureThread::run(){
//do real stuff
fd = -1;
dev_name = "/dev/video0";
fd = v4l2_open(dev_name, O_RDWR | O_NONBLOCK, 0);
if (fd < 0) {
qDebug("Cannot open device");
//exit(EXIT_FAILURE);
return;
}
static struct v4lconvert_data *v4lconvert_data;
static struct v4l2_format src_fmt;
static unsigned char *dst_buf;
CLEAR(fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = 640;
fmt.fmt.pix.height = 480;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB24;
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
xioctl(fd, VIDIOC_S_FMT, &fmt);
if (fmt.fmt.pix.pixelformat != V4L2_PIX_FMT_RGB24) {
printf("Libv4l didn't accept RGB24 format. Can't proceed.\n");
//exit(EXIT_FAILURE);
return;
}
if ((fmt.fmt.pix.width != 640) || (fmt.fmt.pix.height != 480))
printf("Warning: driver is sending image at %dx%d\n",
fmt.fmt.pix.width, fmt.fmt.pix.height);
v4lconvert_data = v4lconvert_create(fd);
if (v4lconvert_data == NULL)
qDebug("v4lconvert_create");
if (v4lconvert_try_format(v4lconvert_data, &fmt, &src_fmt) != 0)
qDebug("v4lconvert_try_format");
xioctl(fd, VIDIOC_S_FMT, &src_fmt);
dst_buf = (unsigned char*)malloc(fmt.fmt.pix.sizeimage);
CLEAR(req);
req.count = 2;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
xioctl(fd, VIDIOC_REQBUFS, &req);
buffers = (buffer*)calloc(req.count, sizeof(*buffers));
for (n_buffers = 0; n_buffers < req.count; ++n_buffers) {
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = n_buffers;
xioctl(fd, VIDIOC_QUERYBUF, &buf);
buffers[n_buffers].length = buf.length;
buffers[n_buffers].start = v4l2_mmap(NULL, buf.length,
PROT_READ | PROT_WRITE, MAP_SHARED,
fd, buf.m.offset);
if (MAP_FAILED == buffers[n_buffers].start) {
qDebug("mmap");
//exit(EXIT_FAILURE);
return;
}
}
for (int i = 0; i < n_buffers; ++i) {
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;
xioctl(fd, VIDIOC_QBUF, &buf);
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl(fd, VIDIOC_STREAMON, &type);
int di=0;
char header[]="P6\n640 480 255\n";
while(devam){
/* bu döngü datanın birikmesini sağlıyor */
do {
FD_ZERO(&fds);
FD_SET(fd, &fds);
/* Timeout. */
tv.tv_sec = 2;
tv.tv_usec = 0;
r = select(fd + 1, &fds, NULL, NULL, &tv);
} while ((r == -1 && (errno = EINTR)));
if (r == -1) {
qDebug("select");
//exit(1) ;
return;
}
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
xioctl(fd, VIDIOC_DQBUF, &buf);
try{
if (v4lconvert_convert(v4lconvert_data,
&src_fmt,
&fmt,
(unsigned char*)buffers[buf.index].start, buf.bytesused,
dst_buf, fmt.fmt.pix.sizeimage) < 0) {
if (errno != EAGAIN)
qDebug("v4l_convert");
}
unsigned char* asil=(unsigned char*)malloc(fmt.fmt.pix.sizeimage+qstrlen(header));
memmove(asil, dst_buf, fmt.fmt.pix.sizeimage);
memmove(asil+qstrlen(header), asil, fmt.fmt.pix.sizeimage);
memcpy(asil,header,qstrlen(header));
QImage qq;//=new QImage(dst_buf,640,480,QImage::Format_RGB32);
if(qq.loadFromData(asil,fmt.fmt.pix.sizeimage+qstrlen(header),"PPM")){
if(parent->isVisible()){
QImage q1(qq);
parent->img=q1;
parent->update();
//this->msleep(50);
}
//qApp->processEvents();
if(asil)
free(asil);
}
}catch(...){}
xioctl(fd, VIDIOC_QBUF, &buf);
di++;
}
try{
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl(fd, VIDIOC_STREAMOFF, &type);
for (int i = 0; i < n_buffers; ++i)
v4l2_munmap(buffers[i].start, buffers[i].length);
v4l2_close(fd);
}catch(...){}
}
void OMX_CameraSurfaceElement::videoAcquire()
{
LOG_VERBOSE(LOG_TAG, "Started acquisition thread...");
struct v4l2_format fmt;
struct v4l2_buffer buf;
struct v4l2_requestbuffers req;
enum v4l2_buf_type type;
fd_set fds;
struct timeval tv;
int r, fd = -1;
unsigned int i, n_buffers;
char *dev_name = (char*)"/dev/video0";
char out_name[256];
#ifdef ENABLE_DUMP
FILE *fout;
#endif
struct buffer *buffers;
fd = v4l2_open(dev_name, O_RDWR | O_NONBLOCK, 0);
if (fd < 0) {
perror("Cannot open device");
exit(EXIT_FAILURE);
}
CLEAR(fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = 640;
fmt.fmt.pix.height = 480;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB24;
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
xioctl(fd, VIDIOC_S_FMT, &fmt);
if (fmt.fmt.pix.pixelformat != V4L2_PIX_FMT_RGB24) {
printf("Libv4l didn't accept RGB24 format. Can't proceed.\n");
exit(EXIT_FAILURE);
}
if ((fmt.fmt.pix.width != 640) || (fmt.fmt.pix.height != 480))
printf("Warning: driver is sending image at %dx%d\n",
fmt.fmt.pix.width, fmt.fmt.pix.height);
CLEAR(req);
req.count = 2;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
xioctl(fd, VIDIOC_REQBUFS, &req);
buffers = (buffer*)calloc(req.count, sizeof(*buffers));
for (n_buffers = 0; n_buffers < req.count; ++n_buffers) {
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = n_buffers;
xioctl(fd, VIDIOC_QUERYBUF, &buf);
buffers[n_buffers].length = buf.length;
buffers[n_buffers].start = v4l2_mmap(NULL, buf.length,
PROT_READ | PROT_WRITE, MAP_SHARED,
fd, buf.m.offset);
if (MAP_FAILED == buffers[n_buffers].start) {
perror("mmap");
exit(EXIT_FAILURE);
}
}
for (i = 0; i < n_buffers; ++i) {
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;
xioctl(fd, VIDIOC_QBUF, &buf);
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl(fd, VIDIOC_STREAMON, &type);
for (i = 0; i < 200; i++) {
do {
FD_ZERO(&fds);
FD_SET(fd, &fds);
/* Timeout. */
tv.tv_sec = 2;
tv.tv_usec = 0;
r = select(fd + 1, &fds, NULL, NULL, &tv);
} while ((r == -1 && (errno = EINTR)));
if (r == -1) {
perror("select");
return;
}
QElapsedTimer timer;
timer.start();
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
m_semAcquire.acquire();
xioctl(fd, VIDIOC_DQBUF, &buf);
printf("Time: %lld.\n", timer.elapsed());
sprintf(out_name, "out%03d.ppm", i);
#ifdef ENABLE_DUMP
fout = fopen(out_name, "w");
if (!fout) {
perror("Cannot open image");
exit(EXIT_FAILURE);
}
fprintf(fout, "P6\n%d %d 255\n",
fmt.fmt.pix.width, fmt.fmt.pix.height);
fwrite(buffers[buf.index].start, buf.bytesused, 1, fout);
fclose(fout);
#endif
xioctl(fd, VIDIOC_QBUF, &buf);
printf("Time: %lld.\n", timer.elapsed());
m_frame = QImage((uchar*)buffers[buf.index].start, 640, 480, QImage::Format_RGB888);
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl(fd, VIDIOC_STREAMOFF, &type);
for (i = 0; i < n_buffers; ++i)
v4l2_munmap(buffers[i].start, buffers[i].length);
v4l2_close(fd);
return;
}
int grab_frame()
{
struct v4l2_format fmt;
struct v4l2_buffer buf;
struct v4l2_requestbuffers req;
enum v4l2_buf_type type;
fd_set fds;
struct timeval tv;
int r, fd = -1;
unsigned int i, n_buffers;
char *dev_name = "/dev/video1";
struct buffer *buffers;
fd = v4l2_open(dev_name, O_RDWR | O_NONBLOCK, 0);
if (fd < 0) {
perror("Cannot open device");
exit(EXIT_FAILURE);
}
printf("grabbing frame...\n");
CLEAR(fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = 640;
fmt.fmt.pix.height = 480;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB24;
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
xioctl(fd, VIDIOC_S_FMT, &fmt);
if (fmt.fmt.pix.pixelformat != V4L2_PIX_FMT_RGB24) {
printf("Libv4l didn't accept RGB24 format. Can't proceed.\n");
exit(EXIT_FAILURE);
}
if ((fmt.fmt.pix.width != 640) || (fmt.fmt.pix.height != 480))
printf("Warning: driver is sending image at %dx%d\n",
fmt.fmt.pix.width, fmt.fmt.pix.height);
CLEAR(req);
req.count = 100;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
xioctl(fd, VIDIOC_REQBUFS, &req);
buffers = calloc(req.count, sizeof(*buffers));
for (n_buffers = 0; n_buffers < req.count; ++n_buffers) {
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = n_buffers;
xioctl(fd, VIDIOC_QUERYBUF, &buf);
buffers[n_buffers].length = buf.length;
buffers[n_buffers].start = v4l2_mmap(NULL, buf.length,
PROT_READ | PROT_WRITE, MAP_SHARED,
fd, buf.m.offset);
if (MAP_FAILED == buffers[n_buffers].start) {
perror("mmap");
exit(EXIT_FAILURE);
}
}
for (i = 0; i < n_buffers; ++i) {
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;
xioctl(fd, VIDIOC_QBUF, &buf);
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl(fd, VIDIOC_STREAMON, &type);
for (i = 0; i < req.count; i++) {
do {
FD_ZERO(&fds);
FD_SET(fd, &fds);
/* Timeout. */
tv.tv_sec = 2;
tv.tv_usec = 0;
r = select(fd + 1, &fds, NULL, NULL, &tv);
} while ((r == -1 && (errno = EINTR)));
if (r == -1) {
perror("select");
return errno;
}
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
xioctl(fd, VIDIOC_DQBUF, &buf);
xioctl(fd, VIDIOC_QBUF, &buf);
}
binarize(buffers, buf);
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl(fd, VIDIOC_STREAMOFF, &type);
for (i = 0; i < n_buffers; ++i)
v4l2_munmap(buffers[i].start, buffers[i].length);
v4l2_close(fd);
return 0;
}
