char controls_enumerate(int fd)
{
struct v4l2_queryctrl queryctrl;
memset (&queryctrl, 0, sizeof (queryctrl));
for (queryctrl.id = V4L2_CID_BASE; queryctrl.id < V4L2_CID_LASTP1; queryctrl.id++)
{
if (0 == ioctl (fd, VIDIOC_QUERYCTRL, &queryctrl))
{
if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
continue;
fprintf(stderr,"Control %s (0x%x)\n", queryctrl.name, queryctrl.id);
fprintf(stderr,"min=%d, max=%d, default=%d\n", queryctrl.minimum, queryctrl.maximum, queryctrl.default_value);
if (queryctrl.type == V4L2_CTRL_TYPE_MENU)
enumerate_menu(fd, &queryctrl);
}
else
{
if (errno == EINVAL)
continue;
perror ("VIDIOC_QUERYCTRL");
return 0;
}
}
for (queryctrl.id = V4L2_CID_PRIVATE_BASE;; queryctrl.id++)
{
if (0 == ioctl (fd, VIDIOC_QUERYCTRL, &queryctrl))
{
if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
continue;
fprintf(stderr,"Custom control %s (0x%x)\n", queryctrl.name, queryctrl.id);
fprintf(stderr,"min=%d, max=%d, default=%d\n", queryctrl.minimum, queryctrl.maximum, queryctrl.default_value);
if (queryctrl.type == V4L2_CTRL_TYPE_MENU)
enumerate_menu(fd, &queryctrl);
}
else
{
if (errno == EINVAL)
break;
perror ("VIDIOC_QUERYCTRL");
return 0;
}
}
return 1;
}
void explain_control_type(const char * label, struct v4l2_queryctrl queryctrl, int fd) {
fprintf(stderr, "%s ", label);
fprintf (stderr, "Control %s:", queryctrl.name);
switch (queryctrl.type) {
case V4L2_CTRL_TYPE_INTEGER:
/* tell me the range */
fprintf (stderr, "integer %d to %d in increments of %d\n", queryctrl.minimum, queryctrl.maximum, queryctrl.step);
break;
case V4L2_CTRL_TYPE_BOOLEAN:
fprintf (stderr, "boolean %d or %d\n", queryctrl.minimum,
queryctrl.maximum);
break;
case V4L2_CTRL_TYPE_MENU:
enumerate_menu((char *)queryctrl.name, fd, queryctrl);
break;
case V4L2_CTRL_TYPE_BUTTON:
; /* empty statement */
fprintf(stderr, "(button)\n");
break;
#ifdef V4L2_CTRL_TYPE_INTEGER64
case V4L2_CTRL_TYPE_INTEGER64:
fprintf(stderr, "value is a 64-bit integer\n");
break;
#endif /* V4L2_CTRL_TYPE_INTEGER64 */
#ifdef V4L2_CTRL_TYPE_CTRL_CLASS
case V4L2_CTRL_TYPE_CTRL_CLASS:
;/* empty statement */
break;
#endif /* V4L2_CTRL_TYPE_CTRL_CLASS */
default:
fprintf(stderr, "Warning: unknown control type in %s\n", __FUNCTION__);
break;
}
}
void camera_v4l2<Tdata>::print_controls() {
cout << "__V4l2 camera controls___________________________________" << endl;
struct v4l2_queryctrl queryctrl;
struct v4l2_querymenu querymenu;
memset (&queryctrl, 0, sizeof (queryctrl));
for (queryctrl.id = V4L2_CID_BASE;
queryctrl.id < V4L2_CID_LASTP1;
queryctrl.id++) {
if (0 == ioctl (fd, VIDIOC_QUERYCTRL, &queryctrl)) {
if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
continue;
cout << queryctrl.name << " (" << queryctrl.id << "): "
<< get_control(queryctrl.id) << endl;
if (queryctrl.type == V4L2_CTRL_TYPE_MENU)
enumerate_menu (fd, queryctrl, querymenu);
} else {
if (errno == EINVAL)
continue;
eblerror ("VIDIOC_QUERYCTRL");
}
}
for (queryctrl.id = V4L2_CID_PRIVATE_BASE;;
queryctrl.id++) {
if (0 == ioctl (fd, VIDIOC_QUERYCTRL, &queryctrl)) {
if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
continue;
printf ("Control %s\n", queryctrl.name);
if (queryctrl.type == V4L2_CTRL_TYPE_MENU)
enumerate_menu (fd, queryctrl, querymenu);
} else {
if (errno == EINVAL)
break;
eblerror ("VIDIOC_QUERYCTRL");
}
}
cout << "_________________________________________________________" << endl;
}
/**
* Gets name of control, and value to set it to
* Changes the value of control to given value.
*/
void change_controls(void)
{
printf("chooose a control to change: ");
scanf("%d", &queryctrl.id);
queryctrl.id += V4L2_CID_BASE;
if (0 == ioctl (fd, VIDIOC_QUERYCTRL, &queryctrl)) {
//Can we control this?
if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED){
printf("not valid!\n");
return;
}
printf ("% 2d Control %20s", queryctrl.id - V4L2_CID_BASE,
queryctrl.name);
struct v4l2_control control;
memset (&control, 0, sizeof (control));
control.id = queryctrl.id;
//Get the current value
if (0 == ioctl (fd, VIDIOC_G_CTRL, &control)) {
printf ("% 9d% 9d% 9d\n",
queryctrl.minimum, control.value, queryctrl.maximum);
} else if (errno != EINVAL) {
perror ("VIDIOC_G_CTRL - the Nao said we could control this, but it "
"won't tell us what the current value is.");
exit (EXIT_FAILURE);
}
if (queryctrl.type == V4L2_CTRL_TYPE_MENU)
enumerate_menu ();
printf("value to set to: %d-%d: ", queryctrl.minimum, queryctrl.maximum);
scanf("%d", &control.value);
/* Errors ignored */
if (-1 == ioctl (fd, VIDIOC_S_CTRL, &control)
&& errno != ERANGE) {
perror ("VIDIOC_S_CTRL");
exit (EXIT_FAILURE);
}
} else {
if (errno == EINVAL){
printf("not valid!\n");
return;
}
perror ("VIDIOC_QUERYCTRL");
exit (EXIT_FAILURE);
}
}
/**
* Reads current controls values
* Prints current values as well as min and max of each control
*/
void read_controls(void)
{
__u32 id;
memset (&queryctrl, 0, sizeof (queryctrl));
for (id = V4L2_CID_BASE;
// +32 to catch 'hidden' controls
id < V4L2_CID_LASTP1 + 32;
id++) {
queryctrl.id = id;
if (0 == ioctl (fd, VIDIOC_QUERYCTRL, &queryctrl)) {
//Can we control this?
if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
continue;
printf ("%2d Control %22s", queryctrl.id - V4L2_CID_BASE,
queryctrl.name);
struct v4l2_control control;
control.id = queryctrl.id;
if(id != V4L2_CID_BASE + 33){ //causes a SIGKILL
//Get the current value
if (0 == ioctl (fd, VIDIOC_G_CTRL, &control)) {
printf ("% 9d% 9d% 9d\n",
queryctrl.minimum, control.value, queryctrl.maximum);
} else if (errno != EINVAL) {
perror ("VIDIOC_G_CTRL - the Nao said we could control this, but "
"it won't tell us what the current value is.");
exit (EXIT_FAILURE);
}
}
else
printf ("\n");
if (queryctrl.type == V4L2_CTRL_TYPE_MENU)
enumerate_menu ();
} else {
if (errno == EINVAL)
continue;
perror ("VIDIOC_QUERYCTRL");
exit (EXIT_FAILURE);
}
}
for (queryctrl.id = V4L2_CID_PRIVATE_BASE;; ++queryctrl.id) {
if (0 == ioctl (fd, VIDIOC_QUERYCTRL, &queryctrl)) {
if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
continue;
printf ("%d Control %s\n", queryctrl.id - V4L2_CID_PRIVATE_BASE,
queryctrl.name);
if (queryctrl.type == V4L2_CTRL_TYPE_MENU)
enumerate_menu ();
} else {
if (errno == EINVAL)
break;
perror ("VIDIOC_QUERYCTRL");
exit (EXIT_FAILURE);
}
}
}
int main(int argc, char *argv[]) {
if (argc >= 1 && NULL != argv[0]) {
size_t n = strlen(argv[0]) + 1;
program_name = allocate(n);
strlcpy(program_name, argv[0], n);
}
static const char short_options[] = "hvd:";
static const struct option
long_options[] = {
{ "help", no_argument, NULL, 'h' },
{ "verbose", no_argument, NULL, 'v' },
{ "device", required_argument, NULL, 'd' },
{ 0, 0, 0, 0 }
};
device_name = "/dev/video0";
int verbose = 0;
for (;;) {
int idx;
int c;
c = getopt_long(argc, argv, short_options, long_options, &idx);
if (-1 == c) {
break;
}
switch (c) {
case 0: // getopt_long() flag
break;
case 'v':
++verbose;
break;
case 'd':
device_name = optarg;
break;
case 'h':
usage(NULL);
return 0;
default:
usage("invalid option: %c", c);
}
}
int fd = open_device(device_name);
// iterate through all controls and display their data
struct v4l2_queryctrl queryctrl;
memset(&queryctrl, 0, sizeof(queryctrl));
for (queryctrl.id = V4L2_CID_BASE; queryctrl.id < V4L2_CID_LASTP1; ++queryctrl.id) {
if (0 == ioctl(fd, VIDIOC_QUERYCTRL, &queryctrl)) {
if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED) {
continue;
}
struct v4l2_control control;
memset (&control, 0, sizeof (control));
control.id = queryctrl.id;
if (0 != ioctl(fd, VIDIOC_G_CTRL, &control)) {
usage("VIDIOC_G_CTRL error: (%d) '%s'", errno, strerror(errno));
}
printf("Control %s type: 0x%08x:\n"
" value: 0x%08x %10d\n"
" minimum: 0x%08x %10d\n"
" maximum: 0x%08x %10d\n"
" step : 0x%08x %10d\n"
" default: 0x%08x %10d\n"
" flags: 0x%08x %10d\n"
"",
queryctrl.name, queryctrl.type,
control.value, control.value,
queryctrl.minimum, queryctrl.minimum,
queryctrl.maximum, queryctrl.maximum,
queryctrl.step, queryctrl.step,
queryctrl.default_value, queryctrl.default_value,
queryctrl.flags, queryctrl.flags);
if (queryctrl.type == V4L2_CTRL_TYPE_MENU) {
enumerate_menu(fd, &queryctrl);
}
} else {
if (errno == EINVAL) {
continue;
}
usage("VIDIOC_QUERYCTRL error: (%d) '%s'", errno, strerror(errno));
}
}
// check for any private controls
for (queryctrl.id = V4L2_CID_PRIVATE_BASE; ; ++queryctrl.id) {
if (0 == ioctl(fd, VIDIOC_QUERYCTRL, &queryctrl)) {
if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED) {
continue;
}
printf("Private Control %s type: 0x%08x:\n"
" minimum: 0x%08x %10d\n"
" maximum: 0x%08x %10d\n"
" step : 0x%08x %10d\n"
" default: 0x%08x %10d\n"
" flags: 0x%08x %10d\n"
"",
queryctrl.name, queryctrl.type,
queryctrl.minimum, queryctrl.minimum,
queryctrl.maximum, queryctrl.maximum,
queryctrl.step, queryctrl.step,
queryctrl.default_value, queryctrl.default_value,
queryctrl.flags, queryctrl.flags);
if (queryctrl.type == V4L2_CTRL_TYPE_MENU) {
enumerate_menu(fd, &queryctrl);
}
} else {
if (errno == EINVAL) {
break;
}
usage("VIDIOC_QUERYCTRL error: (%d) '%s'", errno, strerror(errno));
}
}
close(fd);
return 0;
}
