/*****************************************************************************
* Close:
*****************************************************************************/
static void Close( vlc_object_t *p_this )
{
demux_t *p_demux = (demux_t*)p_this;
demux_sys_t *p_sys = p_demux->p_sys;
int result = 0;
/* Stop data transmission */
result = dc1394_stop_iso_transmission( p_sys->fd_video,
p_sys->camera.node );
if( result != DC1394_SUCCESS )
{
msg_Err( p_demux, "couldn't stop the camera" );
}
/* Close camera */
if( p_sys->dma_capture )
{
dc1394_dma_unlisten( p_sys->fd_video, &p_sys->camera );
dc1394_dma_release_camera( p_sys->fd_video, &p_sys->camera );
}
else
{
dc1394_release_camera( p_sys->fd_video, &p_sys->camera );
}
if( p_sys->fd_video )
dc1394_destroy_handle( p_sys->fd_video );
CloseAudioDev( p_demux );
free( p_sys->camera_nodes );
free( p_sys->audio_device );
free( p_sys );
}
static void icvCloseCAM_DC1394( CvCaptureCAM_DC1394* capture ){
dc1394_stop_iso_transmission(capture->handle, capture->camera->node);
dc1394_dma_unlisten (capture->handle, capture->camera);
/* Deallocate space for RGBA data */
if(capture->convert){
cvFree(&capture->frame.imageData);
}
}
void dc1394_close(void)
{
fprintf( stderr, "closing down..." );
dc1394_dma_unlisten( handle, &camera );
dc1394_dma_release_camera( handle, &camera );
dc1394_destroy_handle( handle );
fprintf( stderr, "done!\n" );
}
static int dc1394_close(AVFormatContext * context)
{
struct dc1394_data *dc1394 = context->priv_data;
dc1394_stop_iso_transmission(dc1394->handle, dc1394->camera.node);
dc1394_dma_unlisten(dc1394->handle, &dc1394->camera);
dc1394_dma_release_camera(dc1394->handle, &dc1394->camera);
dc1394_destroy_handle(dc1394->handle);
return 0;
}
static int dc1394_v1_read_header(AVFormatContext *c, AVFormatParameters * ap)
{
dc1394_data* dc1394 = c->priv_data;
AVStream* vst;
nodeid_t* camera_nodes;
int res;
struct dc1394_frame_format *fmt = NULL;
struct dc1394_frame_rate *fps = NULL;
if (dc1394_read_common(c,ap,&fmt,&fps) != 0)
return -1;
/* Now let us prep the hardware. */
dc1394->handle = dc1394_create_handle(0); /* FIXME: gotta have ap->port */
if (!dc1394->handle) {
av_log(c, AV_LOG_ERROR, "Can't acquire dc1394 handle on port %d\n", 0 /* ap->port */);
goto out;
}
camera_nodes = dc1394_get_camera_nodes(dc1394->handle, &res, 1);
if (!camera_nodes || camera_nodes[ap->channel] == DC1394_NO_CAMERA) {
av_log(c, AV_LOG_ERROR, "There's no IIDC camera on the channel %d\n", ap->channel);
goto out_handle;
}
res = dc1394_dma_setup_capture(dc1394->handle, camera_nodes[ap->channel],
0,
FORMAT_VGA_NONCOMPRESSED,
fmt->frame_size_id,
SPEED_400,
fps->frame_rate_id, 8, 1,
c->filename,
&dc1394->camera);
dc1394_free_camera_nodes(camera_nodes);
if (res != DC1394_SUCCESS) {
av_log(c, AV_LOG_ERROR, "Can't prepare camera for the DMA capture\n");
goto out_handle;
}
res = dc1394_start_iso_transmission(dc1394->handle, dc1394->camera.node);
if (res != DC1394_SUCCESS) {
av_log(c, AV_LOG_ERROR, "Can't start isochronous transmission\n");
goto out_handle_dma;
}
return 0;
out_handle_dma:
dc1394_dma_unlisten(dc1394->handle, &dc1394->camera);
dc1394_dma_release_camera(dc1394->handle, &dc1394->camera);
out_handle:
dc1394_destroy_handle(dc1394->handle);
out:
return -1;
}
bool linuxfwCamera::closeCamera() {
if (use_dma) {
dc1394_dma_unlisten(handle, &camera);
dc1394_dma_release_camera(handle, &camera);
}
else {
dc1394_release_camera(handle,&camera);
}
dc1394_camera_off(handle, cameraID);
dc1394_destroy_handle(handle);
return true;
}
//---------------------------------------------------------------
void
Device1394::fini()
{
MIRO_DBG(VIDEO, LL_DEBUG, "Device1394::fini()");
if (is_open_)
{
MIRO_DBG(VIDEO, LL_DEBUG, "Device1394::fini() close");
dc1394_stop_iso_transmission(handle_, p_camera_->node);
dc1394_dma_unlisten(handle_, p_camera_);
dc1394_dma_release_camera(handle_, p_camera_);
is_open_ = false;
}
cleanupDevice();
}
void CameraDcam::moduleOff(void)
{
RackDataModule::moduleOff(); // has to be first command in moduleOff();
if ( dc1394_stop_iso_transmission( porthandle[dc1394CameraPortNo],dc1394Camera.node ) != DC1394_SUCCESS )
{
GDOS_WARNING("Couldn't stop the iso transmission!!\n");
}
if ( dc1394_dma_unlisten( porthandle[dc1394CameraPortNo], &dc1394Camera ) != DC1394_SUCCESS)
{
GDOS_WARNING("Couldn't unlisten the dma!!\n");
}
if( dc1394_dma_release_camera( porthandle[dc1394CameraPortNo], &dc1394Camera ) != DC1394_SUCCESS)
{
GDOS_WARNING("Couldn't release the dma!!\n");
}
}
static void *AcquireFrames(void *arg) {
struct timeval tv;
int start_sec;
int cam = (int)arg;
pthread_cleanup_push(dc1394Done, (void *)cam);
printf("in acquire\n");
gettimeofday(&tv, NULL);
start_sec = tv.tv_sec;
printf("start sec is %d\n", start_sec);
for (Cams[cam].next_frame=0; Cams[cam].next_frame < Cams[cam].max_frames; Cams[cam].next_frame++) {
if (dc1394_dma_single_capture(&Cams[cam].camera)!=DC1394_SUCCESS) {
fprintf( stderr, "unable to capture a frame\n");
dc1394_stop_iso_transmission(Cams[cam].handle,Cams[cam].camera.node);
Cams[cam].running = 0;
dc1394_dma_release_camera(Cams[cam].handle,&Cams[cam].camera);
Cams[cam].dma_active = 0;
dc1394_destroy_handle(Cams[cam].handle);
Cams[cam].handle = 0;
Cams[cam].thread_id =0;
return;
}
gettimeofday(&tv, NULL);
Cams[cam].times[Cams[cam].next_frame] = tv.tv_sec-start_sec+(double)tv.tv_usec*1E-6;
printf("The time for frame %d is %g\n", Cams[cam].next_frame, Cams[cam].times[Cams[cam].next_frame]);
memcpy((void *)Cams[cam].frames+Cams[cam].next_frame*Cams[cam].width*Cams[cam].height, Cams[cam].camera.capture_buffer, Cams[cam].width*Cams[cam].height);
dc1394_dma_done_with_buffer(&Cams[cam].camera);
printf("got frame %d\n", Cams[cam].next_frame);
}
/* clean up active daq */
dc1394_stop_iso_transmission(Cams[cam].handle,Cams[cam].camera.node);
Cams[cam].running = 0;
dc1394_dma_unlisten(Cams[cam].handle, &Cams[cam].camera);
dc1394_dma_release_camera(Cams[cam].handle,&Cams[cam].camera);
Cams[cam].dma_active = 0;
dc1394_destroy_handle(Cams[cam].handle);
Cams[cam].handle = 0;
Cams[cam].thread_id =0;
pthread_cleanup_pop(0);
return;
}
void dc1394Done(void *arg) {
int cam = (int)arg;
printf("here I am in done - %d %d\n", cam, Cams[cam].running);
/* clean up any active daq */
if (Cams[cam].running) {
printf("stop the dma\n\n");
dc1394_dma_unlisten(Cams[cam].handle, &Cams[cam].camera);
dc1394_stop_iso_transmission(Cams[cam].handle,Cams[cam].camera.node);
Cams[cam].running = 0;
}
if (Cams[cam].dma_active) {
dc1394_dma_release_camera(Cams[cam].handle,&Cams[cam].camera);
Cams[cam].dma_active = 0;
}
if (Cams[cam].handle != NULL) {
dc1394_destroy_handle(Cams[cam].handle);
Cams[cam].handle = 0;
}
printf("all done with Don\n");
}
void
cleanup(void)
{
int i;
for (i = 0; i < numCameras; i++) {
dc1394_dma_unlisten(handles[cameras[i].port], &cameras[i]);
dc1394_dma_release_camera(handles[cameras[i].port], &cameras[i]);
}
for (i = 0; i < numPorts; i++)
raw1394_destroy_handle(handles[i]);
if ((void *) window != NULL)
XUnmapWindow(display, window);
if (display != NULL)
XFlush(display);
if (frame_buffer != NULL)
free(frame_buffer);
// OpenCV cleanup
for (i = 0; i < numCameras; i++) {
cvReleaseImageHeader(&iplImages[i]);
}
}
// Setup camera to use given dc1394 mode
static int
icvSetModeCAM_DC1394( CvCaptureCAM_DC1394 * capture, int mode ){
quadlet_t modes, formats;
//printf("<icvSetModeCAM_DC1394>\n");
// figure out corrent format for this mode
int format = (mode - MODE_FORMAT0_MIN) / 32 + FORMAT_MIN;
// get supported formats
if (dc1394_query_supported_formats(capture->handle, capture->camera->node, &formats)<0) {
fprintf(stderr,"%s:%d: Could not query supported formats\n",__FILE__,__LINE__);
return 0;
}
// is format for requested mode supported ?
if(icvFormatSupportedCAM_DC1394(format, formats)==0){
return 0;
}
// get supported modes for requested format
if (dc1394_query_supported_modes(capture->handle, capture->camera->node, format, &modes)<0){
fprintf(stderr,"%s:%d: Could not query supported modes for format %d\n",__FILE__,__LINE__, capture->format);
return 0;
}
// is requested mode supported ?
if(! icvModeSupportedCAM_DC1394(format, mode, modes) ){
return 0;
}
int color_mode = icvColorMode( mode );
if(color_mode == -1){
return 0;
}
int frame_rate = icvGetBestFrameRate(capture, format, mode);
dc1394_dma_unlisten(capture->handle, capture->camera);
if (dc1394_dma_setup_capture(capture->handle, capture->camera->node, capture->camera->channel /*channel*/,
format, mode, SPEED_400,
frame_rate, NUM_BUFFERS,
#ifdef HAVE_DC1394_095
0 /*do_extra_buffering*/,
#endif
1 /*DROP_FRAMES*/,
capture->device_name, capture->camera) != DC1394_SUCCESS) {
fprintf(stderr,"%s:%d: Failed to setup DMA capture with VIDEO1394\n",__FILE__,__LINE__);
return 0;
}
dc1394_start_iso_transmission(capture->handle, capture->camera->node);
capture->frame_rate = frame_rate;
capture->format = format;
capture->mode = mode;
capture->color_mode = color_mode;
// now fix image size to match new mode
icvResizeFrame( capture );
return 1;
}
static int dc1394_read_header(AVFormatContext *c, AVFormatParameters * ap)
{
dc1394_data* dc1394 = c->priv_data;
AVStream* vst;
nodeid_t* camera_nodes;
int res;
struct dc1394_frame_format *fmt;
struct dc1394_frame_rate *fps;
for (fmt = dc1394_frame_formats; fmt->width; fmt++)
if (fmt->pix_fmt == ap->pix_fmt && fmt->width == ap->width && fmt->height == ap->height)
break;
for (fps = dc1394_frame_rates; fps->frame_rate; fps++)
if (fps->frame_rate == av_rescale(1000, ap->time_base.den, ap->time_base.num))
break;
/* create a video stream */
vst = av_new_stream(c, 0);
if (!vst)
return -1;
av_set_pts_info(vst, 64, 1, 1000);
vst->codec->codec_type = CODEC_TYPE_VIDEO;
vst->codec->codec_id = CODEC_ID_RAWVIDEO;
vst->codec->time_base.den = fps->frame_rate;
vst->codec->time_base.num = 1000;
vst->codec->width = fmt->width;
vst->codec->height = fmt->height;
vst->codec->pix_fmt = fmt->pix_fmt;
/* packet init */
av_init_packet(&dc1394->packet);
dc1394->packet.size = avpicture_get_size(fmt->pix_fmt, fmt->width, fmt->height);
dc1394->packet.stream_index = vst->index;
dc1394->packet.flags |= PKT_FLAG_KEY;
dc1394->current_frame = 0;
dc1394->fps = fps->frame_rate;
vst->codec->bit_rate = av_rescale(dc1394->packet.size * 8, fps->frame_rate, 1000);
/* Now lets prep the hardware */
dc1394->handle = dc1394_create_handle(0); /* FIXME: gotta have ap->port */
if (!dc1394->handle) {
av_log(c, AV_LOG_ERROR, "Can't acquire dc1394 handle on port %d\n", 0 /* ap->port */);
goto out;
}
camera_nodes = dc1394_get_camera_nodes(dc1394->handle, &res, 1);
if (!camera_nodes || camera_nodes[ap->channel] == DC1394_NO_CAMERA) {
av_log(c, AV_LOG_ERROR, "There's no IIDC camera on the channel %d\n", ap->channel);
goto out_handle;
}
res = dc1394_dma_setup_capture(dc1394->handle, camera_nodes[ap->channel],
0,
FORMAT_VGA_NONCOMPRESSED,
fmt->frame_size_id,
SPEED_400,
fps->frame_rate_id, 8, 1,
c->filename,
&dc1394->camera);
dc1394_free_camera_nodes(camera_nodes);
if (res != DC1394_SUCCESS) {
av_log(c, AV_LOG_ERROR, "Can't prepare camera for the DMA capture\n");
goto out_handle;
}
res = dc1394_start_iso_transmission(dc1394->handle, dc1394->camera.node);
if (res != DC1394_SUCCESS) {
av_log(c, AV_LOG_ERROR, "Can't start isochronous transmission\n");
goto out_handle_dma;
}
return 0;
out_handle_dma:
dc1394_dma_unlisten(dc1394->handle, &dc1394->camera);
dc1394_dma_release_camera(dc1394->handle, &dc1394->camera);
out_handle:
dc1394_destroy_handle(dc1394->handle);
out:
return -1;
}
