/* Connect a component output[portnum] to a components input[0] using
| TUNNELLING to keep processing within the GPU (no callbacks to the
| ARM for these connections).
*/
boolean
ports_tunnel_connect(CameraObject *out, int port_num, CameraObject *in)
{
MMAL_PORT_T *out_port, *in_port;
MMAL_CONNECTION_T *connection = NULL;
MMAL_STATUS_T status;
char *msg = "mmal_connection_create";
boolean result = TRUE;
if (!out->component || !in->component)
return FALSE;
out_port = out->component->output[port_num];
in_port = in->component->input[0];
if ((status = mmal_connection_create(&connection, out_port, in_port,
MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT
| MMAL_CONNECTION_FLAG_TUNNELLING)) == MMAL_SUCCESS)
{
msg = "mmal_connection_enable";
status = mmal_connection_enable(connection);
}
if (status != MMAL_SUCCESS)
{
if (connection)
mmal_connection_destroy(connection);
connection = NULL;
result = FALSE;
log_printf("ports_tunnel_connect %s_out->%s_in: %s failed. Status %s\n",
out->name, in->name, msg, mmal_status[status]);
}
in->input_connection = connection;
return result;
}
MMAL_STATUS_T Private_Impl_Still::connectPorts ( MMAL_PORT_T *output_port, MMAL_PORT_T *input_port, MMAL_CONNECTION_T **connection ) {
MMAL_STATUS_T status = mmal_connection_create ( connection, output_port, input_port, MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT );
if ( status == MMAL_SUCCESS ) {
status = mmal_connection_enable ( *connection );
if ( status != MMAL_SUCCESS )
mmal_connection_destroy ( *connection );
}
return status;
}
/**
* Connect two specific ports together
*
* @param output_port Pointer the output port
* @param input_port Pointer the input port
* @param Pointer to a mmal connection pointer, reassigned if function successful
* @return Returns a MMAL_STATUS_T giving result of operation
*
*/
static MMAL_STATUS_T connect_ports(MMAL_PORT_T *output_port, MMAL_PORT_T *input_port, MMAL_CONNECTION_T **connection)
{
MMAL_STATUS_T status;
status = mmal_connection_create(connection, output_port, input_port, MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if (status == MMAL_SUCCESS)
{
status = mmal_connection_enable(*connection);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to connect ports %s and %s - status %d", output_port->name, input_port->name);
mmal_connection_destroy(*connection);
}
}
return status;
}
int setup_preview(PORT_USERDATA *userdata) {
MMAL_STATUS_T status;
MMAL_COMPONENT_T *preview = 0;
MMAL_CONNECTION_T *camera_preview_connection = 0;
MMAL_PORT_T *preview_input_port;
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_RENDERER, &preview);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to create preview (%u)\n", status);
return -1;
}
userdata->preview = preview;
preview_input_port = preview->input[0];
{
MMAL_DISPLAYREGION_T param;
param.hdr.id = MMAL_PARAMETER_DISPLAYREGION;
param.hdr.size = sizeof (MMAL_DISPLAYREGION_T);
param.set = MMAL_DISPLAY_SET_LAYER;
param.layer = 0;
param.set |= MMAL_DISPLAY_SET_FULLSCREEN;
param.fullscreen = 1;
status = mmal_port_parameter_set(preview_input_port, ¶m.hdr);
if (status != MMAL_SUCCESS && status != MMAL_ENOSYS) {
fprintf(stderr, "Error: unable to set preview port parameters (%u)\n", status);
return -1;
}
}
status = mmal_connection_create(&camera_preview_connection, userdata->camera_preview_port, preview_input_port, MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to create connection (%u)\n", status);
return -1;
}
status = mmal_connection_enable(camera_preview_connection);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to enable connection (%u)\n", status);
return -1;
}
//fprintf(stderr, "INFO: preview created\n");
return 0;
}
bool CCameraOutput::Init(int width, int height, MMAL_COMPONENT_T* input_component, int input_port_idx, bool do_argb_conversion)
{
printf("Init camera output with %d/%d\n",width,height);
Width = width;
Height = height;
MMAL_COMPONENT_T *resizer = 0;
MMAL_CONNECTION_T* connection = 0;
MMAL_STATUS_T status;
MMAL_POOL_T* video_buffer_pool = 0;
MMAL_QUEUE_T* output_queue = 0;
//got the port we're receiving from
MMAL_PORT_T* input_port = input_component->output[input_port_idx];
//check if user wants conversion to argb or the width or height is different to the input
if(do_argb_conversion || width != input_port->format->es->video.width || height != input_port->format->es->video.height)
{
//create the resizing component, reading from the splitter output
resizer = CreateResizeComponentAndSetupPorts(input_port,do_argb_conversion);
if(!resizer)
goto error;
//create and enable a connection between the video output and the resizer input
status = mmal_connection_create(&connection, input_port, resizer->input[0], MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if (status != MMAL_SUCCESS)
{
printf("Failed to create connection\n");
goto error;
}
status = mmal_connection_enable(connection);
if (status != MMAL_SUCCESS)
{
printf("Failed to enable connection\n");
goto error;
}
//set the buffer pool port to be the resizer output
BufferPort = resizer->output[0];
}
else
{
//no convert/resize needed so just set the buffer pool port to be the input port
BufferPort = input_port;
}
//setup the video buffer callback
video_buffer_pool = EnablePortCallbackAndCreateBufferPool(BufferPort,VideoBufferCallback,3);
if(!video_buffer_pool)
goto error;
//create the output queue
output_queue = mmal_queue_create();
if(!output_queue)
{
printf("Failed to create output queue\n");
goto error;
}
ResizerComponent = resizer;
BufferPool = video_buffer_pool;
OutputQueue = output_queue;
Connection = connection;
return true;
error:
if(output_queue)
mmal_queue_destroy(output_queue);
if(video_buffer_pool)
mmal_port_pool_destroy(resizer->output[0],video_buffer_pool);
if(connection)
mmal_connection_destroy(connection);
if(resizer)
mmal_component_destroy(resizer);
return false;
}
bool CCamera::Init(int width, int height, int framerate, int num_levels, bool do_argb_conversion)
{
//init broadcom host - QUESTION: can this be called more than once??
bcm_host_init();
//store basic parameters
Width = width;
Height = height;
FrameRate = framerate;
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&CameraParameters);
// Change default parameter, i.e .rotate image
int rotation = 90;
int my_rotation = ((rotation % 360 ) / 90) * 90;
CameraParameters.rotation = my_rotation;
//ret = mmal_port_parameter_set_int32(camera->output[0], MMAL_PARAMETER_ROTATION, my_rotation);
//mmal_port_parameter_set_int32(camera->output[1], MMAL_PARAMETER_ROTATION, my_rotation);
//mmal_port_parameter_set_int32(camera->output[2], MMAL_PARAMETER_ROTATION, my_rotation);
#ifdef WITH_ENCODER
MMAL_COMPONENT_T *encoder = 0;
#endif
MMAL_COMPONENT_T *camera = 0;
MMAL_COMPONENT_T *splitter = 0;
MMAL_CONNECTION_T* vid_to_split_connection = 0;
MMAL_PORT_T *video_port = NULL;
MMAL_STATUS_T status;
CCameraOutput* outputs[4]; memset(outputs,0,sizeof(outputs));
//create the camera component
camera = CreateCameraComponentAndSetupPorts();
if (!camera)
goto error;
//get the video port
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
video_port->buffer_num = 3;
//create the splitter component
splitter = CreateSplitterComponentAndSetupPorts(video_port);
if(!splitter)
goto error;
//create and enable a connection between the video output and the resizer input
status = mmal_connection_create(&vid_to_split_connection, video_port, splitter->input[0], MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if (status != MMAL_SUCCESS)
{
printf("Failed to create connection\n");
goto error;
}
status = mmal_connection_enable(vid_to_split_connection);
if (status != MMAL_SUCCESS)
{
printf("Failed to enable connection\n");
goto error;
}
//setup all the outputs
for(int i = 0; i < num_levels; i++)
{
outputs[i] = new CCameraOutput();
if(!outputs[i]->Init(Width >> i,Height >> i,splitter,i,do_argb_conversion))
{
printf("Failed to initialize output %d\n",i);
goto error;
}
}
#ifdef WITH_ENCODER
encoder = CreateEncoderComponentAndSetupPorts();
if (!encoder)
goto error;
#endif
//begin capture
if (mmal_port_parameter_set_boolean(video_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
{
printf("Failed to start capture\n");
goto error;
}
//store created info
CameraComponent = camera;
SplitterComponent = splitter;
VidToSplitConn = vid_to_split_connection;
memcpy(Outputs,outputs,sizeof(outputs));
//return success
printf("Camera successfully created\n");
return true;
error:
if(vid_to_split_connection)
mmal_connection_destroy(vid_to_split_connection);
if(camera)
mmal_component_destroy(camera);
if(splitter)
mmal_component_destroy(splitter);
for(int i = 0; i < 4; i++)
{
if(outputs[i])
{
outputs[i]->Release();
delete outputs[i];
}
}
#ifdef WITH_ENCODER
if(encoder){}
#endif
return false;
}
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 MMAL_STATUS_T mmalplay_connection_create(MMALPLAY_T *ctx, MMAL_PORT_T *out, MMAL_PORT_T *in, uint32_t flags)
{
MMAL_CONNECTION_T **connection = &ctx->connection[ctx->connection_num];
uint32_t encoding_override = MMAL_ENCODING_UNKNOWN;
MMAL_RECT_T *rect_override = NULL;
MMAL_BOOL_T format_override = MMAL_FALSE;
MMAL_STATUS_T status;
if (ctx->connection_num >= MMAL_COUNTOF(ctx->connection))
return MMAL_ENOMEM;
/* Globally enable tunnelling if requested by the user */
flags |= ctx->options.tunnelling ? MMAL_CONNECTION_FLAG_TUNNELLING : 0;
/* Apply any override to the format specified by the user */
if (out == ctx->video_out_port)
{
encoding_override = ctx->options.output_format;
rect_override = &ctx->options.output_rect;
}
else if (out == ctx->converter_out_port)
{
encoding_override = ctx->options.render_format;
rect_override = &ctx->options.render_rect;
}
if (encoding_override != MMAL_ENCODING_UNKNOWN &&
encoding_override != out->format->encoding)
{
out->format->encoding = encoding_override;
format_override = MMAL_TRUE;
}
if (rect_override && rect_override->width && rect_override->height)
{
out->format->es->video.crop = *rect_override;
out->format->es->video.width = rect_override->width;
out->format->es->video.height = rect_override->height;
format_override = MMAL_TRUE;
}
if (format_override)
{
status = mmal_port_format_commit(out);
if (status != MMAL_SUCCESS)
{
LOG_ERROR("cannot override format on output port %s", out->name);
return status;
}
}
/* Create the actual connection */
status = mmal_connection_create(connection, out, in, flags);
if (status != MMAL_SUCCESS)
{
LOG_ERROR("cannot create connection");
return status;
}
/* Set our connection callback */
(*connection)->callback = mmalplay_connection_cb;
(*connection)->user_data = (void *)ctx;
log_format(out->format, out);
log_format(in->format, in);
ctx->connection_num++;
return MMAL_SUCCESS;
}
bool CMMALVideo::CreateDeinterlace(EINTERLACEMETHOD interlace_method)
{
MMAL_STATUS_T status;
if (g_advancedSettings.CanLogComponent(LOGVIDEO))
CLog::Log(LOGDEBUG, "%s::%s method:%d", CLASSNAME, __func__, interlace_method);
assert(!m_deint);
assert(m_dec_output == m_dec->output[0]);
status = mmal_port_disable(m_dec_output);
if (status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to disable decoder output port (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
/* Create deinterlace filter */
status = mmal_component_create("vc.ril.image_fx", &m_deint);
if (status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to create deinterlace component (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
MMAL_PARAMETER_IMAGEFX_PARAMETERS_T imfx_param = {{MMAL_PARAMETER_IMAGE_EFFECT_PARAMETERS, sizeof(imfx_param)},
interlace_method == VS_INTERLACEMETHOD_MMAL_ADVANCED || interlace_method == VS_INTERLACEMETHOD_MMAL_ADVANCED_HALF ?
MMAL_PARAM_IMAGEFX_DEINTERLACE_ADV : MMAL_PARAM_IMAGEFX_DEINTERLACE_FAST,
3, {3, 0, interlace_method == VS_INTERLACEMETHOD_MMAL_ADVANCED_HALF || interlace_method == VS_INTERLACEMETHOD_MMAL_BOB_HALF }};
status = mmal_port_parameter_set(m_deint->output[0], &imfx_param.hdr);
if (status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to set deinterlace parameters (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
MMAL_PORT_T *m_deint_input = m_deint->input[0];
m_deint_input->userdata = (struct MMAL_PORT_USERDATA_T *)this;
// Now connect the decoder output port to deinterlace input port
status = mmal_connection_create(&m_deint_connection, m_dec->output[0], m_deint->input[0], MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if (status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to connect deinterlacer component %s (status=%x %s)", CLASSNAME, __func__, m_deint->name, status, mmal_status_to_string(status));
return false;
}
status = mmal_connection_enable(m_deint_connection);
if (status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to enable connection %s (status=%x %s)", CLASSNAME, __func__, m_deint->name, status, mmal_status_to_string(status));
return false;
}
mmal_format_copy(m_deint->output[0]->format, m_es_format);
status = mmal_port_format_commit(m_deint->output[0]);
if (status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to commit deint output format (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
status = mmal_component_enable(m_deint);
if (status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to enable deinterlacer component %s (status=%x %s)", CLASSNAME, __func__, m_deint->name, status, mmal_status_to_string(status));
return false;
}
m_deint->output[0]->buffer_size = m_deint->output[0]->buffer_size_min;
m_deint->output[0]->buffer_num = m_deint->output[0]->buffer_num_recommended;
m_deint->output[0]->userdata = (struct MMAL_PORT_USERDATA_T *)this;
status = mmal_port_enable(m_deint->output[0], dec_output_port_cb_static);
if (status != MMAL_SUCCESS)
{
CLog::Log(LOGERROR, "%s::%s Failed to enable decoder output port (status=%x %s)", CLASSNAME, __func__, status, mmal_status_to_string(status));
return false;
}
m_dec_output = m_deint->output[0];
m_interlace_method = interlace_method;
return true;
}
/* 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;
}
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;
}
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");
}
}
/** Create an instance of a component */
static MMAL_STATUS_T mmal_component_create_aggregator_pipeline(const char *full_name,
const char *component_names, MMAL_COMPONENT_T *component)
{
MMAL_GRAPH_T *graph = 0;
MMAL_COMPONENT_T *subcomponent[2] = {0};
MMAL_STATUS_T status = MMAL_ENOMEM;
unsigned int length;
char *orig, *names;
length = strlen(component_names);
names = orig = vcos_calloc(1, length + 1, "mmal aggregator");
if (!names)
goto error;
memcpy(names, component_names, length);
/* We'll build the aggregator using a graph */
status = mmal_graph_create(&graph, sizeof(MMAL_GRAPH_USERDATA_T));
if (status != MMAL_SUCCESS)
goto error;
graph->pf_parameter_get = aggregator_parameter_get;
graph->pf_parameter_set = aggregator_parameter_set;
/* Iterate through all the specified components */
while (*names)
{
MMAL_CONNECTION_T *connection;
const char *name;
/* Switch to a new connection */
if (subcomponent[0])
mmal_component_destroy(subcomponent[0]);
subcomponent[0] = subcomponent[1];
subcomponent[1] = 0;
/* Extract the name of the next component */
for (name = names; *names && *names != ':'; names++);
/* Replace the separator */
if (*names)
*(names++) = 0;
/* Skip empty strings */
if (!*name)
continue;
status = mmal_component_create(name, &subcomponent[1]);
if (status != MMAL_SUCCESS)
goto error;
status = mmal_graph_add_component(graph, subcomponent[1]);
if (status != MMAL_SUCCESS)
goto error;
/* Special case for dealing with the first component in the chain */
if (!subcomponent[0])
{
/* Add first input port if any */
if (subcomponent[1]->input_num)
{
status = mmal_graph_add_port(graph, subcomponent[1]->input[0]);
if (status != MMAL_SUCCESS)
goto error;
}
continue;
}
/* Create connection between the 2 ports */
if (subcomponent[0]->output_num < 1 || subcomponent[1]->input_num < 1)
goto error;
status = mmal_connection_create(&connection, subcomponent[0]->output[0],
subcomponent[1]->input[0], 0);
if (status != MMAL_SUCCESS)
goto error;
status = mmal_graph_add_connection(graph, connection);
/* Now the connection is added to the graph we don't care about it anymore */
mmal_connection_destroy(connection);
if (status != MMAL_SUCCESS)
goto error;
}
/* Add last output port if any */
if (subcomponent[1] && subcomponent[1]->output_num && subcomponent[1]->output[0])
{
status = mmal_graph_add_port(graph, subcomponent[1]->output[0]);
if (status != MMAL_SUCCESS)
goto error;
}
/* Build the graph */
component->priv->module = (struct MMAL_COMPONENT_MODULE_T *)graph;
status = mmal_graph_component_constructor(full_name, component);
if (status != MMAL_SUCCESS)
goto error;
end:
if (subcomponent[0])
mmal_component_destroy(subcomponent[0]);
if (subcomponent[1])
mmal_component_destroy(subcomponent[1]);
vcos_free(orig);
return status;
error:
if (graph)
mmal_graph_destroy(graph);
goto end;
}
bool CCamera::Init(int width, int height, int framerate, int num_levels, bool do_argb_conversion)
{
//init broadcom host - QUESTION: can this be called more than once??
bcm_host_init();
//store basic parameters
Width = width;
Height = height;
FrameRate = framerate;
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&CameraParameters);
MMAL_COMPONENT_T *camera = 0;
MMAL_COMPONENT_T *splitter = 0;
MMAL_CONNECTION_T* vid_to_split_connection = 0;
MMAL_PORT_T *video_port = NULL;
MMAL_STATUS_T status;
CCameraOutput* outputs[4]; memset(outputs,0,sizeof(outputs));
//create the camera component
camera = CreateCameraComponentAndSetupPorts();
if (!camera)
goto error;
//get the video port
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
video_port->buffer_num = 3;
//create the splitter component
splitter = CreateSplitterComponentAndSetupPorts(video_port);
if(!splitter)
goto error;
//create and enable a connection between the video output and the resizer input
status = mmal_connection_create(&vid_to_split_connection, video_port, splitter->input[0], MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if (status != MMAL_SUCCESS)
{
printf("Failed to create connection\n");
goto error;
}
status = mmal_connection_enable(vid_to_split_connection);
if (status != MMAL_SUCCESS)
{
printf("Failed to enable connection\n");
goto error;
}
//setup all the outputs
for(int i = 0; i < num_levels; i++)
{
outputs[i] = new CCameraOutput();
if(!outputs[i]->Init(Width >> i,Height >> i,splitter,i,do_argb_conversion))
{
printf("Failed to initialize output %d\n",i);
goto error;
}
}
//begin capture
if (mmal_port_parameter_set_boolean(video_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
{
printf("Failed to start capture\n");
goto error;
}
//store created info
CameraComponent = camera;
SplitterComponent = splitter;
VidToSplitConn = vid_to_split_connection;
memcpy(Outputs,outputs,sizeof(outputs));
//custom parameters
raspicamcontrol_set_saturation(camera, 0);
raspicamcontrol_set_contrast(camera, 100);
raspicamcontrol_set_brightness(camera, 50);
//raspicamcontrol_set_exposure_mode(camera, MMAL_PARAM_EXPOSUREMODE_OFF);
//raspicamcontrol_set_awb_mode(camera, MMAL_PARAM_AWBMODE_OFF);
raspicamcontrol_set_shutter_speed(camera, 2400);
//return success
printf("Camera successfully created\n");
return true;
error:
if(vid_to_split_connection)
mmal_connection_destroy(vid_to_split_connection);
if(camera)
mmal_component_destroy(camera);
if(splitter)
mmal_component_destroy(splitter);
for(int i = 0; i < 4; i++)
{
if(outputs[i])
{
outputs[i]->Release();
delete outputs[i];
}
}
return false;
}
int main(int argc, char** argv) {
MMAL_COMPONENT_T *camera = 0;
MMAL_COMPONENT_T *preview = 0;
MMAL_ES_FORMAT_T *format;
MMAL_STATUS_T status;
MMAL_PORT_T *camera_preview_port = NULL, *camera_video_port = NULL, *camera_still_port = NULL;
MMAL_PORT_T *preview_input_port = NULL;
MMAL_CONNECTION_T *camera_preview_connection = 0;
printf("Running...\n");
bcm_host_init();
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera);
if (status != MMAL_SUCCESS) {
printf("Error: create camera %x\n", status);
return -1;
}
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 = 1280,
.max_preview_video_h = 720,
.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_preview_port->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = 1280;
format->es->video.height = 720;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = 1280;
format->es->video.crop.height = 720;
status = mmal_port_format_commit(camera_preview_port);
if (status != MMAL_SUCCESS) {
printf("Error: camera viewfinder format couldn't be set\n");
return -1;
}
status = mmal_component_enable(camera);
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_RENDERER, &preview);
if (status != MMAL_SUCCESS) {
printf("Error: unable to create preview (%u)\n", status);
return -1;
}
preview_input_port = preview->input[0];
{
MMAL_DISPLAYREGION_T param;
param.hdr.id = MMAL_PARAMETER_DISPLAYREGION;
param.hdr.size = sizeof (MMAL_DISPLAYREGION_T);
param.set = MMAL_DISPLAY_SET_LAYER;
param.layer = 0;
param.set |= MMAL_DISPLAY_SET_FULLSCREEN;
param.fullscreen = 1;
status = mmal_port_parameter_set(preview_input_port, ¶m.hdr);
if (status != MMAL_SUCCESS && status != MMAL_ENOSYS) {
printf("Error: unable to set preview port parameters (%u)\n", status);
return -1;
}
}
status = mmal_connection_create(&camera_preview_connection, camera_preview_port, preview_input_port, MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if (status != MMAL_SUCCESS) {
printf("Error: unable to create connection (%u)\n", status);
return -1;
}
status = mmal_connection_enable(camera_preview_connection);
if (status != MMAL_SUCCESS) {
printf("Error: unable to enable connection (%u)\n", status);
return -1;
}
while (1);
return 0;
}