void vc_hostfs_init(void)
{
// This hostfs module is not thread safe - it allocaes a block
// of memory and uses it without any kind of locking.
//
// It offers no advantage of stdio, and so most clients should
// not use it. Arguably FILESYS should use it in order to get
// the FIFO support.
const char *thread_name = vcos_thread_get_name(vcos_thread_current());
if (strcmp(thread_name, "FILESYS") != 0 && strcmp(thread_name, "HFilesys") != 0)
{
fprintf(stderr,"%s: vc_hostfs is deprecated. Please use stdio\n",
vcos_thread_get_name(vcos_thread_current()));
}
vcos_log_register("hostfs", &hostfs_log_cat);
DEBUG_MINOR("init");
// Allocate memory for the file info table
p_file_info_table = (file_info_t *)calloc( FILE_INFO_TABLE_CHUNK_LEN, sizeof( file_info_t ) );
assert( p_file_info_table != NULL );
if (p_file_info_table)
{
file_info_table_len = FILE_INFO_TABLE_CHUNK_LEN;
}
}
/**
* main
*/
int main(int argc, const char **argv)
{
// Our main data storage vessel..
RASPISTILL_STATE state;
MMAL_STATUS_T status = MMAL_SUCCESS;
MMAL_PORT_T *camera_preview_port = NULL;
MMAL_PORT_T *camera_video_port = NULL;
MMAL_PORT_T *camera_still_port = NULL;
MMAL_PORT_T *preview_input_port = NULL;
MMAL_PORT_T *encoder_input_port = NULL;
MMAL_PORT_T *encoder_output_port = NULL;
bcm_host_init();
// Register our application with the logging system
vcos_log_register("RaspiStill", VCOS_LOG_CATEGORY);
signal(SIGINT, signal_handler);
default_status(&state);
// Do we have any parameters
if (argc == 1)
{
fprintf(stderr, "\%s Camera App %s\n\n", basename(argv[0]), VERSION_STRING);
display_valid_parameters(basename(argv[0]));
exit(0);
}
int32_t vc_gpuserv_init( void )
{
VCHIQ_SERVICE_PARAMS_T vchiq_params;
VCOS_STATUS_T status = VCOS_ENXIO;
VCHIQ_STATUS_T vchiq_status;
vcos_once(&gpuserv_client_once, init_once);
vcos_mutex_lock(&gpuserv_client.lock);
if (gpuserv_client.refcount++ > 0)
{
/* Already initialised so nothing to do */
vcos_mutex_unlock(&gpuserv_client.lock);
return VCOS_SUCCESS;
}
vcos_log_set_level(VCOS_LOG_CATEGORY, VCOS_LOG_TRACE);
vcos_log_register("gpuserv", VCOS_LOG_CATEGORY);
vcos_log_trace("%s: starting initialisation", VCOS_FUNCTION);
/* Initialise a VCHIQ instance */
vchiq_status = vchiq_initialise(&gpuserv_client_vchiq_instance);
if (vchiq_status != VCHIQ_SUCCESS)
{
vcos_log_error("%s: failed to initialise vchiq: %d", VCOS_FUNCTION, vchiq_status);
goto error;
}
vchiq_status = vchiq_connect(gpuserv_client_vchiq_instance);
if (vchiq_status != VCHIQ_SUCCESS)
{
vcos_log_error("%s: failed to connect to vchiq: %d", VCOS_FUNCTION, vchiq_status);
goto error;
}
memset(&vchiq_params, 0, sizeof(vchiq_params));
vchiq_params.fourcc = VCHIQ_MAKE_FOURCC('G','P','U','S');
vchiq_params.callback = gpuserv_callback;
vchiq_params.userdata = NULL;
vchiq_params.version = 1;
vchiq_params.version_min = 1;
vchiq_status = vchiq_open_service(gpuserv_client_vchiq_instance, &vchiq_params, &gpuserv_client.service);
if (vchiq_status != VCHIQ_SUCCESS)
{
vcos_log_error("%s: could not open vchiq service: %d", VCOS_FUNCTION, vchiq_status);
goto error;
}
vcos_mutex_unlock(&gpuserv_client.lock);
return 0;
error:
vcos_mutex_unlock(&gpuserv_client.lock);
return -1;
}
/* Initialises GL preview state and creates the dispmanx native window.
* @param state Pointer to the GL preview state.
* @return Zero if successful.
*/
int raspitex_init(RASPITEX_STATE *state)
{
VCOS_STATUS_T status;
int rc;
vcos_init();
vcos_log_register("RaspiTex", VCOS_LOG_CATEGORY);
vcos_log_set_level(VCOS_LOG_CATEGORY,
state->verbose ? VCOS_LOG_INFO : VCOS_LOG_WARN);
vcos_log_trace("%s", VCOS_FUNCTION);
status = vcos_semaphore_create(&state->capture.start_sem,
"glcap_start_sem", 1);
if (status != VCOS_SUCCESS)
goto error;
status = vcos_semaphore_create(&state->capture.completed_sem,
"glcap_completed_sem", 0);
if (status != VCOS_SUCCESS)
goto error;
switch (state->scene_id)
{
case RASPITEX_SCENE_SQUARE:
rc = square_open(state);
break;
case RASPITEX_SCENE_MIRROR:
rc = mirror_open(state);
break;
case RASPITEX_SCENE_TEAPOT:
rc = teapot_open(state);
break;
case RASPITEX_SCENE_YUV:
rc = yuv_open(state);
break;
case RASPITEX_SCENE_SOBEL:
rc = sobel_open(state);
break;
case RASPITEXT_SCENE_BGS_SIMPLE:
rc = gl_simple_open(state);
break;
default:
rc = -1;
break;
}
if (rc != 0)
goto error;
return 0;
error:
vcos_log_error("%s: failed", VCOS_FUNCTION);
return -1;
}
void vcos_logging_init(void)
{
if (inited)
{
// FIXME: should print a warning or something here
return;
}
vcos_mutex_create(&lock, "vcos_log");
vcos_log_register("default", &dflt_log_category);
dflt_log_category.flags.want_prefix = 0;
vcos_assert(!inited);
inited = 1;
}
void vcos_logging_init(void)
{
if (inited)
{
/* FIXME: should print a warning or something here */
return;
}
vcos_mutex_create(&lock, "vcos_log");
vcos_log_platform_init();
vcos_log_register("default", &dflt_log_category);
#if VCOS_WANT_LOG_CMD
vcos_cmd_register( &cmd_log );
#endif
vcos_assert(!inited);
inited = 1;
}
/**
* main
*/
int main(int argc, const char **argv)
{
// Our main data storage vessel..
RASPISTILLYUV_STATE state;
MMAL_STATUS_T status;
MMAL_PORT_T *camera_preview_port = NULL;
MMAL_PORT_T *camera_video_port = NULL;
MMAL_PORT_T *camera_still_port = NULL;
MMAL_PORT_T *preview_input_port = NULL;
FILE *output_file = NULL;
// Register our application with the logging system
vcos_log_register("RaspiStill", VCOS_LOG_CATEGORY);
printf("\nRaspiStillYUV Camera App\n");
printf( "========================\n\n");
signal(SIGINT, signal_handler);
// Do we have any parameters
if (argc == 1)
{
display_valid_parameters();
exit(0);
}
default_status(&state);
// Parse the command line and put options in to our status structure
if (parse_cmdline(argc, argv, &state))
{
status = -1;
exit(0);
}
if (state.verbose)
dump_status(&state);
// OK, we have a nice set of parameters. Now set up our components
// We have two components. Camera and Preview
// Camera is different in stills/video, but preview
// is the same so handed off to a separate module
if (!create_camera_component(&state))
{
vcos_log_error("%s: Failed to create camera component", __func__);
}
else if ( !raspipreview_create(&state.preview_parameters))
{
vcos_log_error("%s: Failed to create preview component", __func__);
destroy_camera_component(&state);
}
else
{
PORT_USERDATA callback_data;
if (state.verbose)
printf("Starting component connection stage\n");
camera_preview_port = state.camera_component->output[MMAL_CAMERA_PREVIEW_PORT];
camera_video_port = state.camera_component->output[MMAL_CAMERA_VIDEO_PORT];
camera_still_port = state.camera_component->output[MMAL_CAMERA_CAPTURE_PORT];
preview_input_port = state.preview_parameters.preview_component->input[0];
if (state.preview_parameters.wantPreview )
{
if (state.verbose)
{
printf("Connecting camera preview port to preview input port\n");
printf("Starting video preview\n");
}
// Connect camera to preview
status = connect_ports(camera_preview_port, preview_input_port, &state.preview_connection);
}
if (status == MMAL_SUCCESS)
{
VCOS_STATUS_T vcos_status;
if (state.filename)
{
if (state.verbose)
printf("Opening output file %s\n", state.filename);
output_file = fopen(state.filename, "wb");
if (!output_file)
{
// Notify user, carry on but discarding encoded output buffers
vcos_log_error("%s: Error opening output file: %s\nNo output file will be generated\n", __func__, state.filename);
}
}
// Set up our userdata - this is passed though to the callback where we need the information.
callback_data.file_handle = output_file;
callback_data.pstate = &state;
vcos_status = vcos_semaphore_create(&callback_data.complete_semaphore, "RaspiStill-sem", 0);
vcos_assert(vcos_status == VCOS_SUCCESS);
camera_still_port->userdata = (struct MMAL_PORT_USERDATA_T *)&callback_data;
if (state.verbose)
printf("Enabling camera still output port\n");
// Enable the camera still output port and tell it its callback function
status = mmal_port_enable(camera_still_port, camera_buffer_callback);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to setup camera output");
goto error;
}
if (state.verbose)
printf("Starting video preview\n");
// Send all the buffers to the encoder output port
{
int num = mmal_queue_length(state.camera_pool->queue);
int q;
for (q=0;q<num;q++)
{
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(state.camera_pool->queue);
if (!buffer)
vcos_log_error("Unable to get a required buffer %d from pool queue", q);
if (mmal_port_send_buffer(camera_still_port, buffer)!= MMAL_SUCCESS)
vcos_log_error("Unable to send a buffer to encoder output port (%d)", q);
}
}
// Now wait until we need to do the capture
vcos_sleep(state.timeout);
// And only do the capture if we have specified a filename and its opened OK
if (output_file)
{
if (state.verbose)
printf("Starting capture\n");
// Fire the capture
if (mmal_port_parameter_set_boolean(camera_still_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to start capture", __func__);
}
else
{
// Wait for capture to complete
// For some reason using vcos_semaphore_wait_timeout sometimes returns immediately with bad parameter error
// even though it appears to be all correct, so reverting to untimed one until figure out why its erratic
vcos_semaphore_wait(&callback_data.complete_semaphore);
if (state.verbose)
printf("Finished capture\n");
}
}
vcos_semaphore_delete(&callback_data.complete_semaphore);
}
else
{
mmal_status_to_int(status);
vcos_log_error("%s: Failed to connect camera to preview", __func__);
}
error:
mmal_status_to_int(status);
if (state.verbose)
printf("Closing down\n");
if (output_file)
fclose(output_file);
// Disable all our ports that are not handled by connections
check_disable_port(camera_video_port);
if (state.preview_parameters.wantPreview )
mmal_connection_destroy(state.preview_connection);
/* Disable components */
if (state.preview_parameters.preview_component)
mmal_component_disable(state.preview_parameters.preview_component);
if (state.camera_component)
mmal_component_disable(state.camera_component);
raspipreview_destroy(&state.preview_parameters);
destroy_camera_component(&state);
if (state.verbose)
printf("Close down completed, all components disconnected, disabled and destroyed\n\n");
}
return 0;
}
/**
* main
*/
int main(int argc, const char **argv)
{
// Our main data storage vessel..
RASPIVID_STATE state;
MMAL_STATUS_T status = MMAL_SUCCESS;
MMAL_PORT_T *camera_preview_port = NULL;
MMAL_PORT_T *camera_video_port = NULL;
MMAL_PORT_T *camera_still_port = NULL;
MMAL_PORT_T *preview_input_port = NULL;
MMAL_PORT_T *encoder_input_port = NULL;
MMAL_PORT_T *encoder_output_port = NULL;
FILE *output_file = NULL;
bcm_host_init();
// Register our application with the logging system
vcos_log_register("RaspiVid", VCOS_LOG_CATEGORY);
signal(SIGINT, signal_handler);
default_status(&state);
// Do we have any parameters
if (argc == 1)
{
fprintf(stderr, "\n%s Camera App %s\n\n", basename(argv[0]), VERSION_STRING);
display_valid_parameters(basename(argv[0]));
exit(0);
}
// Parse the command line and put options in to our status structure
if (parse_cmdline(argc, argv, &state))
{
status = -1;
exit(0);
}
if (state.verbose)
{
fprintf(stderr, "\n%s Camera App %s\n\n", basename(argv[0]), VERSION_STRING);
dump_status(&state);
}
// OK, we have a nice set of parameters. Now set up our components
// We have three components. Camera, Preview and encoder.
if ((status = create_camera_component(&state)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create camera component", __func__);
}
else if ((status = raspipreview_create(&state.preview_parameters)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create preview component", __func__);
destroy_camera_component(&state);
}
else if ((status = create_encoder_component(&state)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create encode component", __func__);
raspipreview_destroy(&state.preview_parameters);
destroy_camera_component(&state);
}
else
{
PORT_USERDATA callback_data;
if (state.verbose)
fprintf(stderr, "Starting component connection stage\n");
camera_preview_port = state.camera_component->output[MMAL_CAMERA_PREVIEW_PORT];
camera_video_port = state.camera_component->output[MMAL_CAMERA_VIDEO_PORT];
camera_still_port = state.camera_component->output[MMAL_CAMERA_CAPTURE_PORT];
preview_input_port = state.preview_parameters.preview_component->input[0];
encoder_input_port = state.encoder_component->input[0];
encoder_output_port = state.encoder_component->output[0];
if (state.preview_parameters.wantPreview )
{
if (state.verbose)
{
fprintf(stderr, "Connecting camera preview port to preview input port\n");
fprintf(stderr, "Starting video preview\n");
}
// Connect camera to preview
status = connect_ports(camera_preview_port, preview_input_port, &state.preview_connection);
}
else
{
status = MMAL_SUCCESS;
}
if (status == MMAL_SUCCESS)
{
if (state.verbose)
fprintf(stderr, "Connecting camera stills port to encoder input port\n");
// Now connect the camera to the encoder
status = connect_ports(camera_video_port, encoder_input_port, &state.encoder_connection);
if (status != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to connect camera video port to encoder input", __func__);
goto error;
}
if (state.filename)
{
if (state.filename[0] == '-')
{
output_file = stdout;
// Ensure we don't upset the output stream with diagnostics/info
state.verbose = 0;
}
else
{
if (state.verbose)
fprintf(stderr, "Opening output file \"%s\"\n", state.filename);
output_file = fopen(state.filename, "wb");
}
if (!output_file)
{
// Notify user, carry on but discarding encoded output buffers
vcos_log_error("%s: Error opening output file: %s\nNo output file will be generated\n", __func__, state.filename);
}
}
// Set up our userdata - this is passed though to the callback where we need the information.
callback_data.file_handle = output_file;
callback_data.image = Mat(Size(state.width, state.height), CV_8UC1);
callback_data.pstate = &state;
callback_data.abort = 0;
encoder_output_port->userdata = (struct MMAL_PORT_USERDATA_T *)&callback_data;
if (state.verbose)
fprintf(stderr, "Enabling encoder output port\n");
// Enable the encoder output port and tell it its callback function
status = mmal_port_enable(encoder_output_port, encoder_buffer_callback);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to setup encoder output");
goto error;
}
if (state.demoMode)
{
// Run for the user specific time..
int num_iterations = state.timeout / state.demoInterval;
int i;
if (state.verbose)
fprintf(stderr, "Running in demo mode\n");
for (i=0;state.timeout == 0 || i<num_iterations;i++)
{
raspicamcontrol_cycle_test(state.camera_component);
vcos_sleep(state.demoInterval);
}
}
else
{
// Only encode stuff if we have a filename and it opened
if (output_file)
{
int wait;
if (state.verbose)
fprintf(stderr, "Starting video capture\n");
if (mmal_port_parameter_set_boolean(camera_video_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
{
goto error;
}
// Send all the buffers to the encoder output port
{
int num = mmal_queue_length(state.encoder_pool->queue);
int q;
for (q=0;q<num;q++)
{
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(state.encoder_pool->queue);
if (!buffer)
vcos_log_error("Unable to get a required buffer %d from pool queue", q);
if (mmal_port_send_buffer(encoder_output_port, buffer)!= MMAL_SUCCESS)
vcos_log_error("Unable to send a buffer to encoder output port (%d)", q);
}
}
// Now wait until we need to stop. Whilst waiting we do need to check to see if we have aborted (for example
// out of storage space)
// Going to check every ABORT_INTERVAL milliseconds
for (wait = 0; state.timeout == 0 || wait < state.timeout; wait+= ABORT_INTERVAL)
{
vcos_sleep(ABORT_INTERVAL);
if (callback_data.abort)
break;
}
if (state.verbose)
fprintf(stderr, "Finished capture\n");
}
else
{
if (state.timeout)
vcos_sleep(state.timeout);
else
for (;;) vcos_sleep(ABORT_INTERVAL);
}
}
}
else
{
mmal_status_to_int(status);
vcos_log_error("%s: Failed to connect camera to preview", __func__);
}
error:
mmal_status_to_int(status);
if (state.verbose)
fprintf(stderr, "Closing down\n");
// Disable all our ports that are not handled by connections
check_disable_port(camera_still_port);
check_disable_port(encoder_output_port);
if (state.preview_parameters.wantPreview )
mmal_connection_destroy(state.preview_connection);
mmal_connection_destroy(state.encoder_connection);
// Can now close our file. Note disabling ports may flush buffers which causes
// problems if we have already closed the file!
if (output_file && output_file != stdout)
fclose(output_file);
/* Disable components */
if (state.encoder_component)
mmal_component_disable(state.encoder_component);
if (state.preview_parameters.preview_component)
mmal_component_disable(state.preview_parameters.preview_component);
if (state.camera_component)
mmal_component_disable(state.camera_component);
destroy_encoder_component(&state);
raspipreview_destroy(&state.preview_parameters);
destroy_camera_component(&state);
if (state.verbose)
fprintf(stderr, "Close down completed, all components disconnected, disabled and destroyed\n\n");
}
if (status != MMAL_SUCCESS)
raspicamcontrol_check_configuration(128);
return 0;
}
int OpenVideoCoreMemoryFileWithOffset( const char *filename, VC_MEM_ACCESS_HANDLE_T *vcHandlePtr, size_t loadOffset )
{
int rc = 0;
VC_MEM_ACCESS_HANDLE_T newHandle;
VC_DEBUG_SYMBOL_T debug_sym;
VC_MEM_ADDR_T symAddr;
size_t symTableSize;
unsigned symIdx;
struct
{
VC_DEBUG_HEADER_T header;
VC_DEBUG_PARAMS_T params;
} vc_dbg;
vcos_log_register( "debug_sym", &debug_sym_log_category );
if (( newHandle = calloc( 1, sizeof( *newHandle ))) == NULL )
{
return -ENOMEM;
}
if ( filename == NULL )
{
newHandle->use_vc_mem = 1;
filename = "/dev/vc-mem";
}
else
{
newHandle->use_vc_mem = 0;
}
if (( newHandle->memFd = open( filename, ( newHandle->use_vc_mem ? O_RDWR : O_RDONLY ) | O_SYNC )) < 0 )
{
ERR( "Unable to open '%s': %s(%d)\n", filename, strerror( errno ), errno );
free(newHandle);
return -errno;
}
DBG( "Opened %s memFd = %d", filename, newHandle->memFd );
if ( newHandle->use_vc_mem )
{
newHandle->memFdBase = 0;
#if defined(WIN32) || defined(__CYGWIN__)
#define VC_MEM_SIZE (128 * 1024 * 1024)
newHandle->vcMemSize = VC_MEM_SIZE;
newHandle->vcMemBase = 0;
newHandle->vcMemLoad = 0;
newHandle->vcMemPhys = 0;
#else
if ( ioctl( newHandle->memFd, VC_MEM_IOC_MEM_SIZE, &newHandle->vcMemSize ) != 0 )
{
ERR( "Failed to get memory size via ioctl: %s(%d)\n",
strerror( errno ), errno );
free(newHandle);
return -errno;
}
if ( ioctl( newHandle->memFd, VC_MEM_IOC_MEM_BASE, &newHandle->vcMemBase ) != 0 )
{
ERR( "Failed to get memory base via ioctl: %s(%d)\n",
strerror( errno ), errno );
free(newHandle);
return -errno;
}
if ( ioctl( newHandle->memFd, VC_MEM_IOC_MEM_LOAD, &newHandle->vcMemLoad ) != 0 )
{
ERR( "Failed to get memory load via ioctl: %s(%d)\n",
strerror( errno ), errno );
/* Backward compatibility. */
newHandle->vcMemLoad = newHandle->vcMemBase;
}
if ( ioctl( newHandle->memFd, VC_MEM_IOC_MEM_PHYS_ADDR, &newHandle->vcMemPhys ) != 0 )
{
ERR( "Failed to get memory physical address via ioctl: %s(%d)\n",
strerror( errno ), errno );
free(newHandle);
return -errno;
}
#endif
}
else
{
off_t len = lseek( newHandle->memFd, 0, SEEK_END );
if ( len < 0 )
{
ERR( "Failed to seek to end of file: %s(%d)\n", strerror( errno ), errno );
free(newHandle);
return -errno;
}
newHandle->vcMemPhys = 0;
newHandle->vcMemSize = len;
newHandle->vcMemBase = 0;
newHandle->vcMemLoad = loadOffset;
newHandle->memFdBase = 0;
}
DBG( "vcMemSize = %08x", newHandle->vcMemSize );
DBG( "vcMemBase = %08x", newHandle->vcMemBase );
DBG( "vcMemLoad = %08x", newHandle->vcMemLoad );
DBG( "vcMemPhys = %08x", newHandle->vcMemPhys );
newHandle->vcMemEnd = newHandle->vcMemBase + newHandle->vcMemSize - 1;
// See if we can detect the symbol table
if ( !ReadVideoCoreMemory( newHandle,
&newHandle->vcSymbolTableOffset,
newHandle->vcMemLoad + VC_SYMBOL_BASE_OFFSET,
sizeof( newHandle->vcSymbolTableOffset )))
{
ERR( "ReadVideoCoreMemory @VC_SYMBOL_BASE_OFFSET (0x%08x) failed\n", VC_SYMBOL_BASE_OFFSET );
rc = -EIO;
goto err_exit;
}
// When reading from a file, the VC binary is read into a buffer and the effective base is 0.
// But that may not be the actual base address the binary is intended to be loaded to. The
// following reads the debug header to find out what the actual base address is.
if( !newHandle->use_vc_mem )
{
// Read the complete debug header
if ( !ReadVideoCoreMemory( newHandle,
&vc_dbg,
newHandle->vcMemLoad + VC_SYMBOL_BASE_OFFSET,
sizeof( vc_dbg )))
{
ERR( "ReadVideoCoreMemory @VC_SYMBOL_BASE_OFFSET (0x%08x) failed\n", VC_SYMBOL_BASE_OFFSET );
rc = -EIO;
goto err_exit;
}
// The vc_dbg header gives the "base" address of the VC binary,
// which debug_sym calls the "load" address, so we need to adjust
// it by loadOffset to find the base of the whole memory dump file
newHandle->memFdBase = vc_dbg.params.vcMemBase - loadOffset;
newHandle->vcMemBase = vc_dbg.params.vcMemBase - loadOffset;
newHandle->vcMemLoad = vc_dbg.params.vcMemBase;
newHandle->vcMemEnd = newHandle->memFdBase + newHandle->vcMemSize - 1;
DBG( "Updated from debug header:" );
DBG( "vcMemSize = %08x", newHandle->vcMemSize );
DBG( "vcMemBase = %08x", newHandle->vcMemBase );
DBG( "vcMemLoad = %08x", newHandle->vcMemLoad );
DBG( "vcMemPhys = %08x", newHandle->vcMemPhys );
}
DBG( "vcSymbolTableOffset = 0x%08x", newHandle->vcSymbolTableOffset );
// Make sure that the pointer points into the first few megabytes of
// the memory space.
if ( (newHandle->vcSymbolTableOffset - newHandle->vcMemLoad) > ( MAX_VC_SIZE * 1024 * 1024 ))
{
ERR( "newHandle->vcSymbolTableOffset (0x%x - 0x%x) > %dMB\n", newHandle->vcSymbolTableOffset, newHandle->vcMemLoad, MAX_VC_SIZE );
rc = -EIO;
goto err_exit;
}
// Make a pass to count how many symbols there are.
symAddr = newHandle->vcSymbolTableOffset;
newHandle->numSymbols = 0;
do
{
if ( !ReadVideoCoreMemory( newHandle,
&debug_sym,
symAddr,
sizeof( debug_sym )))
{
ERR( "ReadVideoCoreMemory @ symAddr(0x%08x) failed\n", symAddr );
rc = -EIO;
goto err_exit;
}
newHandle->numSymbols++;
DBG( "Symbol %d: label: 0x%p addr: 0x%08x size: %zu",
newHandle->numSymbols,
debug_sym.label,
debug_sym.addr,
debug_sym.size );
if ( newHandle->numSymbols > 1024 )
{
// Something isn't sane.
ERR( "numSymbols (%d) > 1024 - looks wrong\n", newHandle->numSymbols );
rc = -EIO;
goto err_exit;
}
symAddr += sizeof( debug_sym );
} while ( debug_sym.label != 0 );
newHandle->numSymbols--;
DBG( "Detected %d symbols", newHandle->numSymbols );
// Allocate some memory to hold the symbols, and read them in.
symTableSize = newHandle->numSymbols * sizeof( debug_sym );
if (( newHandle->symbol = malloc( symTableSize )) == NULL )
{
rc = -ENOMEM;
goto err_exit;
}
if ( !ReadVideoCoreMemory( newHandle,
newHandle->symbol,
newHandle->vcSymbolTableOffset,
symTableSize ))
{
ERR( "ReadVideoCoreMemory @ newHandle->vcSymbolTableOffset(0x%08x) failed\n", newHandle->vcSymbolTableOffset );
rc = -EIO;
goto err_exit;
}
// The names of the symbols are pointers in videocore space. We want
// to have them available locally, so we make copies and fixup
// the pointer.
for ( symIdx = 0; symIdx < newHandle->numSymbols; symIdx++ )
{
VC_DEBUG_SYMBOL_T *sym;
char symName[ 256 ];
sym = &newHandle->symbol[ symIdx ];
DBG( "Symbol %d: label: 0x%p addr: 0x%08x size: %zu",
symIdx,
sym->label,
sym->addr,
sym->size );
if ( !ReadVideoCoreMemory( newHandle,
symName,
TO_VC_MEM_ADDR(sym->label),
sizeof( symName )))
{
ERR( "ReadVideoCoreMemory @ sym->label(0x%08x) failed\n", TO_VC_MEM_ADDR(sym->label) );
rc = -EIO;
goto err_exit;
}
symName[ sizeof( symName ) - 1 ] = '\0';
sym->label = vcos_strdup( symName );
DBG( "Symbol %d (@0x%p): label: '%s' addr: 0x%08x size: %zu",
symIdx,
sym,
sym->label,
sym->addr,
sym->size );
}
*vcHandlePtr = newHandle;
return 0;
err_exit:
close( newHandle->memFd );
free( newHandle );
return rc;
}
/**
* main
*/
int main(int argc, const char **argv)
{
// *** MODIFICATION: OpenCV modifications.
// Load previous image.
IplImage* prevImage = cvLoadImage("motion1.jpg", CV_LOAD_IMAGE_COLOR);
// Create two arrays with the same number of channels than the original one.
avg1 = cvCreateMat(prevImage->height,prevImage->width,CV_32FC3);
avg2 = cvCreateMat(prevImage->height,prevImage->width,CV_32FC3);
// Create image of 32 bits.
IplImage* image32 = cvCreateImage(cvSize(prevImage->width,prevImage->height), 32,3);
// Convert image to 32 bits.
cvConvertScale(prevImage,image32,1/255,0);
// Set data from previous image into arrays.
cvSetData(avg1,image32->imageData,image32->widthStep);
cvSetData(avg2,image32->imageData,image32->widthStep);
// *** MODIFICATION end
// Our main data storage vessel..
RASPISTILL_STATE state;
MMAL_STATUS_T status = MMAL_SUCCESS;
MMAL_PORT_T *camera_preview_port = NULL;
MMAL_PORT_T *camera_video_port = NULL;
MMAL_PORT_T *camera_still_port = NULL;
MMAL_PORT_T *preview_input_port = NULL;
MMAL_PORT_T *encoder_input_port = NULL;
MMAL_PORT_T *encoder_output_port = NULL;
bcm_host_init();
// Register our application with the logging system
vcos_log_register("fast", VCOS_LOG_CATEGORY);
signal(SIGINT, signal_handler);
default_status(&state);
if (state.verbose)
{
fprintf(stderr, "\n%s Camera App %s\n\n", basename(argv[0]), VERSION_STRING);
}
// OK, we have a nice set of parameters. Now set up our components
// We have three components. Camera, Preview and encoder.
// Camera and encoder are different in stills/video, but preview
// is the same so handed off to a separate module
if ((status = create_camera_component(&state)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create camera component", __func__);
}
else if ((status = raspipreview_create(&state.preview_parameters)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create preview component", __func__);
destroy_camera_component(&state);
}
else if ((status = create_encoder_component(&state)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create encode component", __func__);
raspipreview_destroy(&state.preview_parameters);
destroy_camera_component(&state);
}
else
{
PORT_USERDATA callback_data;
if (state.verbose)
fprintf(stderr, "Starting component connection stage\n");
camera_preview_port = state.camera_component->output[MMAL_CAMERA_PREVIEW_PORT];
camera_video_port = state.camera_component->output[MMAL_CAMERA_VIDEO_PORT];
camera_still_port = state.camera_component->output[MMAL_CAMERA_CAPTURE_PORT];
preview_input_port = state.preview_parameters.preview_component->input[0];
encoder_input_port = state.encoder_component->input[0];
encoder_output_port = state.encoder_component->output[0];
if (state.preview_parameters.wantPreview )
{
if (state.verbose)
{
fprintf(stderr, "Connecting camera preview port to preview input port\n");
fprintf(stderr, "Starting video preview\n");
}
// *** USER: remove preview
// Connect camera to preview
//status = connect_ports(camera_preview_port, preview_input_port, &state.preview_connection);
}
else
{
status = MMAL_SUCCESS;
}
if (status == MMAL_SUCCESS)
{
VCOS_STATUS_T vcos_status;
if (state.verbose)
fprintf(stderr, "Connecting camera stills port to encoder input port\n");
// Now connect the camera to the encoder
status = connect_ports(camera_still_port, encoder_input_port, &state.encoder_connection);
if (status != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to connect camera video port to encoder input", __func__);
goto error;
}
// Set up our userdata - this is passed though to the callback where we need the information.
// Null until we open our filename
callback_data.file_handle = NULL;
callback_data.pstate = &state;
vcos_status = vcos_semaphore_create(&callback_data.complete_semaphore, "RaspiStill-sem", 0);
vcos_assert(vcos_status == VCOS_SUCCESS);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to setup encoder output");
goto error;
}
FILE *output_file = NULL;
int frame = 1;
// Enable the encoder output port
encoder_output_port->userdata = (struct MMAL_PORT_USERDATA_T *)&callback_data;
if (state.verbose)
fprintf(stderr, "Enabling encoder output port\n");
// Enable the encoder output port and tell it its callback function
status = mmal_port_enable(encoder_output_port, encoder_buffer_callback);
// Create an empty matrix with the size of the buffer.
CvMat* buf = cvCreateMat(1,60000,CV_8UC1);
// Keep buffer that gets frames from queue.
MMAL_BUFFER_HEADER_T *buffer;
// Image to be displayed.
IplImage* image;
// Keep number of buffers and index for the loop.
int num, q;
while(1)
{
// Send all the buffers to the encoder output port
num = mmal_queue_length(state.encoder_pool->queue);
for (q=0;q<num;q++)
{
buffer = mmal_queue_get(state.encoder_pool->queue);
if (!buffer)
vcos_log_error("Unable to get a required buffer %d from pool queue", q);
if (mmal_port_send_buffer(encoder_output_port, buffer)!= MMAL_SUCCESS)
vcos_log_error("Unable to send a buffer to encoder output port (%d)", q);
} // for
if (mmal_port_parameter_set_boolean(camera_still_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
vcos_log_error("%s: Failed to start capture", __func__);
else
{
// Wait for capture to complete
// For some reason using vcos_semaphore_wait_timeout sometimes returns immediately with bad parameter error
// even though it appears to be all correct, so reverting to untimed one until figure out why its erratic
vcos_semaphore_wait(&callback_data.complete_semaphore);
if (state.verbose)
fprintf(stderr, "Finished capture %d\n", frame);
} // else
// Copy buffer from camera to matrix.
buf->data.ptr = buffer->data;
// This workaround is needed for the code to work
// *** TODO: investigate why.
printf("Until here works\n");
// Decode the image and display it.
image = cvDecodeImage(buf, CV_LOAD_IMAGE_COLOR);
// Destinations
CvMat* res1 = cvCreateMat(image->height,image->width,CV_8UC3);
CvMat* res2 = cvCreateMat(image->height,image->width,CV_8UC3);
// Update running averages and then scale, calculate absolute values
// and convert the result 8-bit.
// *** USER:change the value of the weight.
cvRunningAvg(image,avg2,0.0001, NULL);
cvConvertScaleAbs(avg2, res2, 1,0);
cvRunningAvg(image,avg1,0.1, NULL);
cvConvertScaleAbs(avg1, res1, 1,0);
// Show images
cvShowImage("img",image);
cvShowImage("avg1",res1);
cvShowImage("avg2",res2);
cvWaitKey(20);
// Update previous image.
cvSaveImage("motion1.jpg", image, 0);
} // end while
vcos_semaphore_delete(&callback_data.complete_semaphore);
}
else
{
mmal_status_to_int(status);
vcos_log_error("%s: Failed to connect camera to preview", __func__);
}
error:
mmal_status_to_int(status);
if (state.verbose)
fprintf(stderr, "Closing down\n");
// Disable all our ports that are not handled by connections
check_disable_port(camera_video_port);
check_disable_port(encoder_output_port);
if (state.preview_parameters.wantPreview )
mmal_connection_destroy(state.preview_connection);
mmal_connection_destroy(state.encoder_connection);
/* Disable components */
if (state.encoder_component)
mmal_component_disable(state.encoder_component);
if (state.preview_parameters.preview_component)
mmal_component_disable(state.preview_parameters.preview_component);
if (state.camera_component)
mmal_component_disable(state.camera_component);
destroy_encoder_component(&state);
raspipreview_destroy(&state.preview_parameters);
destroy_camera_component(&state);
if (state.verbose)
fprintf(stderr, "Close down completed, all components disconnected, disabled and destroyed\n\n");
}
if (status != MMAL_SUCCESS)
raspicamcontrol_check_configuration(128);
return 0;
}
int main(int argc, const char **argv)
{
VCOS_THREAD_ATTR_T attrs;
int i;
vcos_init();
signal(SIGINT, test_signal_handler);
/* coverity[tainted_data] Ignore unnecessary warning about an attacker
* being able to pass an arbitrarily long "-vvvvv..." argument */
if (test_parse_cmdline(argc, argv))
return -1;
if (verbosity--)
{
static char value[512];
const char *levels[] = {"warn", "info", "trace"};
char *env = getenv("VC_LOGLEVEL");
if (verbosity >= MMAL_COUNTOF(levels)) verbosity = MMAL_COUNTOF(levels) - 1;
snprintf(value, sizeof(value)-1, "mmalplay:%s,mmal:%s,%s",
levels[verbosity], levels[verbosity], env ? env : "");
#ifdef WIN32
_putenv("VC_LOGLEVEL", value, 1);
#else
setenv("VC_LOGLEVEL", value, 1);
#endif
}
vcos_log_register("mmalplay", VCOS_LOG_CATEGORY);
LOG_INFO("MMAL Video Playback Test App");
vcos_thread_attr_init(&attrs);
for (i = 0; i < play_info_count; i++)
{
const char *uri = play_info[i].uri;
memcpy(play_info[i].name, THREAD_PREFIX, sizeof(THREAD_PREFIX));
if (strlen(uri) >= URI_FOR_THREAD_NAME_MAX)
uri += strlen(uri) - URI_FOR_THREAD_NAME_MAX;
strncat(play_info[i].name, uri, URI_FOR_THREAD_NAME_MAX);
vcos_mutex_create(&play_info[i].lock, "mmalplay");
play_info[i].options.render_layer = i;
if (vcos_thread_create(&play_info[i].thread, play_info[i].name, &attrs, mmal_playback, &play_info[i]) != VCOS_SUCCESS)
{
LOG_ERROR("Thread creation failure for URI %s", play_info[i].uri);
return -2;
}
}
if (sleepy_time != 0)
{
#ifdef WIN32
Sleep(sleepy_time);
#else
sleep(sleepy_time);
#endif
for (i = 0; i < play_info_count; i++)
{
vcos_mutex_lock(&play_info[i].lock);
if (play_info[i].ctx)
mmalplay_stop(play_info[i].ctx);
vcos_mutex_unlock(&play_info[i].lock);
}
}
LOG_TRACE("Waiting for threads to terminate");
for (i = 0; i < play_info_count; i++)
{
vcos_thread_join(&play_info[i].thread, NULL);
LOG_TRACE("Joined thread %d (%i)", i, play_info[i].status);
}
LOG_TRACE("Completed");
/* Check for errors */
for (i = 0; i < play_info_count; i++)
{
if (!play_info[i].status)
continue;
LOG_ERROR("Playback of %s failed (%i, %s)", play_info[i].uri,
play_info[i].status,
mmal_status_to_string(play_info[i].status));
fprintf(stderr, "playback of %s failed (%i, %s)\n", play_info[i].uri,
play_info[i].status,
mmal_status_to_string(play_info[i].status));
return play_info[i].status;
}
return 0;
}
MMAL_STATUS_T mmal_vc_init(void)
{
VCHIQ_SERVICE_PARAMS_T vchiq_params;
MMAL_BOOL_T vchiq_initialised = 0, waitpool_initialised = 0;
MMAL_BOOL_T service_initialised = 0;
MMAL_STATUS_T status = MMAL_EIO;
VCHIQ_STATUS_T vchiq_status;
int count;
vcos_once(&once, init_once);
vcos_mutex_lock(&client.lock);
count = client.refcount++;
if (count > 0)
{
/* Already initialised so nothing to do */
vcos_mutex_unlock(&client.lock);
return MMAL_SUCCESS;
}
vcos_log_register("mmalipc", VCOS_LOG_CATEGORY);
/* Initialise a VCHIQ instance */
vchiq_status = vchiq_initialise(&mmal_vchiq_instance);
if (vchiq_status != VCHIQ_SUCCESS)
{
LOG_ERROR("failed to initialise vchiq");
status = MMAL_EIO;
goto error;
}
vchiq_initialised = 1;
vchiq_status = vchiq_connect(mmal_vchiq_instance);
if (vchiq_status != VCHIQ_SUCCESS)
{
LOG_ERROR("failed to connect to vchiq");
status = MMAL_EIO;
goto error;
}
memset(&vchiq_params,0,sizeof(vchiq_params));
vchiq_params.fourcc = MMAL_CONTROL_FOURCC();
vchiq_params.callback = mmal_vc_vchiq_callback;
vchiq_params.userdata = &client;
vchiq_params.version = WORKER_VER_MAJOR;
vchiq_params.version_min = WORKER_VER_MINIMUM;
vchiq_status = vchiq_open_service(mmal_vchiq_instance, &vchiq_params, &client.service);
if (vchiq_status != VCHIQ_SUCCESS)
{
LOG_ERROR("could not open vchiq service");
status = MMAL_EIO;
goto error;
}
client.usecount = 1; /* usecount set to 1 by the open call. */
service_initialised = 1;
status = create_waitpool(&client.waitpool);
if (status != MMAL_SUCCESS)
{
LOG_ERROR("could not create wait pool");
goto error;
}
waitpool_initialised = 1;
if (vcos_mutex_create(&client.bulk_lock, "mmal client bulk lock") != VCOS_SUCCESS)
{
LOG_ERROR("could not create bulk lock");
status = MMAL_ENOSPC;
goto error;
}
client.inited = 1;
vcos_mutex_unlock(&client.lock);
/* assume we're not using VC immediately. Do this outside the lock */
mmal_vc_release();
return MMAL_SUCCESS;
error:
if (waitpool_initialised)
destroy_waitpool(&client.waitpool);
if (service_initialised)
{
client.usecount = 0;
vchiq_close_service(client.service);
}
if (vchiq_initialised)
vchiq_shutdown(mmal_vchiq_instance);
vcos_log_unregister(VCOS_LOG_CATEGORY);
client.refcount--;
vcos_mutex_unlock(&client.lock);
return status;
}
/**
* main
*/
int main(int argc, const char **argv)
{
// Our main data storage vessel..
RASPIVID_STATE state;
MMAL_STATUS_T status;
MMAL_PORT_T *camera_preview_port = NULL;
MMAL_PORT_T *camera_video_port = NULL;
MMAL_PORT_T *camera_still_port = NULL;
MMAL_PORT_T *preview_input_port = NULL;
MMAL_PORT_T *encoder_input_port = NULL;
MMAL_PORT_T *encoder_output_port = NULL;
FILE *output_file = NULL;
// Register our application with the logging system
vcos_log_register("RaspiVid", VCOS_LOG_CATEGORY);
printf("\nRaspiVid Camera App\n");
printf("===================\n\n");
signal(SIGINT, signal_handler);
default_status(&state);
// Do we have any parameters
if (argc == 1)
{
display_valid_parameters();
exit(0);
}
// Parse the command line and put options in to our status structure
if (parse_cmdline(argc, argv, &state))
{
status = -1;
exit(0);
}
if (state.verbose)
dump_status(&state);
// OK, we have a nice set of parameters. Now set up our components
// We have three components. Camera, Preview and encoder.
if (!create_camera_component(&state))
{
vcos_log_error("%s: Failed to create camera component", __func__);
}
else if (!raspipreview_create(&state.preview_parameters))
{
vcos_log_error("%s: Failed to create preview component", __func__);
destroy_camera_component(&state);
}
else if (!create_encoder_component(&state))
{
vcos_log_error("%s: Failed to create encode component", __func__);
raspipreview_destroy(&state.preview_parameters);
destroy_camera_component(&state);
}
else
{
PORT_USERDATA callback_data;
if (state.verbose)
printf("Starting component connection stage\n");
camera_preview_port = state.camera_component->output[MMAL_CAMERA_PREVIEW_PORT];
camera_video_port = state.camera_component->output[MMAL_CAMERA_VIDEO_PORT];
camera_still_port = state.camera_component->output[MMAL_CAMERA_CAPTURE_PORT];
preview_input_port = state.preview_parameters.preview_component->input[0];
encoder_input_port = state.encoder_component->input[0];
encoder_output_port = state.encoder_component->output[0];
if (state.preview_parameters.wantPreview )
{
if (state.verbose)
{
printf("Connecting camera preview port to preview input port\n");
printf("Starting video preview\n");
}
// Connect camera to preview
status = connect_ports(camera_preview_port, preview_input_port, &state.preview_connection);
}
if (status == MMAL_SUCCESS)
{
VCOS_STATUS_T vcos_status;
if (state.verbose)
printf("Connecting camera stills port to encoder input port\n");
// Now connect the camera to the encoder
status = connect_ports(camera_video_port, encoder_input_port, &state.encoder_connection);
if (status != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to connect camera video port to encoder input", __func__);
goto error;
}
if (state.filename)
{
if (state.verbose)
printf("Opening output file %s\n", state.filename);
output_file = fopen(state.filename, "wb");
if (!output_file)
{
// Notify user, carry on but discarding encoded output buffers
vcos_log_error("%s: Error opening output file: %s\nNo output file will be generated\n", __func__, state.filename);
}
}
// Set up our userdata - this is passed though to the callback where we need the information.
callback_data.file_handle = output_file;
callback_data.pstate = &state;
vcos_status = vcos_semaphore_create(&callback_data.complete_semaphore, "RaspiStill-sem", 0);
vcos_assert(vcos_status == VCOS_SUCCESS);
encoder_output_port->userdata = (struct MMAL_PORT_USERDATA_T *)&callback_data;
if (state.verbose)
printf("Enabling encoder output port\n");
// Enable the encoder output port and tell it its callback function
status = mmal_port_enable(encoder_output_port, encoder_buffer_callback);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to setup encoder output");
goto error;
}
if (state.demoMode)
{
// Run for the user specific time..
int num_iterations = state.timeout / state.demoInterval;
int i;
printf("Running in demo mode\n");
for (i=0;i<num_iterations;i++)
{
raspicamcontrol_cycle_test(state.camera_component);
vcos_sleep(state.demoInterval);
}
}
else
{
// Only encode stuff if we have a filename and it opened
if (output_file)
{
if (state.verbose)
printf("Starting video capture\n");
if (mmal_port_parameter_set_boolean(camera_video_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
{
goto error;
}
// Send all the buffers to the encoder output port
{
int num = mmal_queue_length(state.encoder_pool->queue);
int q;
for (q=0;q<num;q++)
{
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(state.encoder_pool->queue);
if (!buffer)
vcos_log_error("Unable to get a required buffer %d from pool queue", q);
if (mmal_port_send_buffer(encoder_output_port, buffer)!= MMAL_SUCCESS)
vcos_log_error("Unable to send a buffer to encoder output port (%d)", q);
}
}
// Now wait until we need to stop
vcos_sleep(state.timeout);
printf("Finished capture\n");
}
else
vcos_sleep(state.timeout);
}
}
else
{
mmal_status_to_int(status);
vcos_log_error("%s: Failed to connect camera to preview", __func__);
}
error:
mmal_status_to_int(status);
if (state.verbose)
printf("Closing down\n");
// Disable all our ports that are not handled by connections
check_disable_port(camera_still_port);
check_disable_port(encoder_output_port);
if (state.preview_parameters.wantPreview )
mmal_connection_destroy(state.preview_connection);
mmal_connection_destroy(state.encoder_connection);
// Can now close our file. Note disabling ports may flush buffers which causes
// problems if we have already closed the file!
if (output_file)
fclose(output_file);
/* Disable components */
if (state.encoder_component)
mmal_component_disable(state.encoder_component);
if (state.preview_parameters.preview_component)
mmal_component_disable(state.preview_parameters.preview_component);
if (state.camera_component)
mmal_component_disable(state.camera_component);
destroy_encoder_component(&state);
raspipreview_destroy(&state.preview_parameters);
destroy_camera_component(&state);
if (state.verbose)
printf("Close down completed, all components disconnected, disabled and destroyed\n\n");
}
return 0;
}
/**
* init_cam
*/
int init_cam(RASPIVID_STATE *state) {
// Our main data storage vessel..
MMAL_STATUS_T status;
MMAL_PORT_T *camera_video_port = NULL;
MMAL_PORT_T *camera_still_port = NULL;
MMAL_PORT_T *preview_input_port = NULL;
//MMAL_PORT_T *encoder_input_port = NULL;
// MMAL_PORT_T *encoder_output_port = NULL;
bcm_host_init();
get_status(state);
// Register our application with the logging system
vcos_log_register("RaspiVid", VCOS_LOG_CATEGORY);
signal(SIGINT, signal_handler);
// OK, we have a nice set of parameters. Now set up our components
// We have three components. Camera, Preview and encoder.
if (!create_camera_component(state)) {
ROS_INFO("%s: Failed to create camera component", __func__);
/*else if ((status = create_encoder_component(state)) != MMAL_SUCCESS)
{
ROS_INFO("%s: Failed to create encode component", __func__);
destroy_camera_component(state);
}*/
} else {
PORT_USERDATA * callback_data = (PORT_USERDATA *) malloc (sizeof(PORT_USERDATA));
camera_video_port = state->camera_component->output[MMAL_CAMERA_VIDEO_PORT];
camera_still_port = state->camera_component->output[MMAL_CAMERA_CAPTURE_PORT];
//encoder_input_port = state->encoder_component->input[0];
//encoder_output_port = state->encoder_component->output[0];
/*status = connect_ports(camera_video_port, encoder_input_port, &state->encoder_connection);
if (status != MMAL_SUCCESS)
{
ROS_INFO("%s: Failed to connect camera video port to encoder input", __func__);
return 1;
}*/
callback_data->buffer[0] = (unsigned char *) malloc(state->width * state->height * 8);
callback_data->buffer[1] = (unsigned char *) malloc(state->width * state->height * 8);
// Set up our userdata - this is passed though to the callback where we need the information.
callback_data->pstate = state;
callback_data->abort = 0;
callback_data->id = 0;
callback_data->frame = 0;
//encoder_output_port->userdata = (struct MMAL_PORT_USERDATA_T *) callback_data_enc;
camera_video_port->userdata = (struct MMAL_PORT_USERDATA_T *) callback_data;
//PORT_USERDATA *pData = (PORT_USERDATA *)encoder_output_port->userdata;
PORT_USERDATA *pData = (PORT_USERDATA *)camera_video_port->userdata;
// Enable the encoder output port and tell it its callback function
//status = mmal_port_enable(encoder_output_port, encoder_buffer_callback);
status = mmal_port_enable(camera_video_port, camera_buffer_callback);
if (status != MMAL_SUCCESS) {
ROS_INFO("Failed to setup encoder output");
return 1;
}
state->isInit = 1;
}
return 0;
}
int main(int argc, char **argv)
{
// Parse command line options/arguments.
VIDTEX_PARAMS_T params = {0};
int rc;
int status = 0;
opterr = 0;
while ((rc = getopt(argc, argv, "d:iuvy")) != -1)
{
switch (rc)
{
case 'd':
params.duration_ms = atoi(optarg);
break;
case 'i':
params.opts |= VIDTEX_OPT_IMG_PER_FRAME;
break;
case 'y':
params.opts |= VIDTEX_OPT_Y_TEXTURE;
break;
case 'u':
params.opts |= VIDTEX_OPT_U_TEXTURE;
break;
case 'v':
params.opts |= VIDTEX_OPT_V_TEXTURE;
break;
default:
usage(argv[0]);
return 2;
}
}
if (optind < argc - 1)
{
usage(argv[0]);
return 2;
}
if (optind < argc)
{
strncpy(params.uri, argv[optind], sizeof(params.uri) - 1);
params.uri[sizeof(params.uri) - 1] = '\0';
}
// Init vcos logging.
vcos_log_set_level(VCOS_LOG_CATEGORY, VCOS_LOG_INFO);
vcos_log_register("vidtex", VCOS_LOG_CATEGORY);
// Run video-on-texture application in a separate thread.
#ifdef __ANDROID__
status = Launcher::runApp("vidtex", launch_vidtex, ¶ms, sizeof(params));
#else
status = runApp("vidtex", launch_vidtex, ¶ms, sizeof(params));
#endif
return (status == 0) ? EXIT_SUCCESS : EXIT_FAILURE;
}
int init_cam()
{
bcm_host_init();
// Register our application with the logging system
vcos_log_register("RaspiStill", VCOS_LOG_CATEGORY);
signal(SIGINT, signal_handler);
default_status(&gState);
if ((gStatus = create_camera_component(&gState)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create camera component", __func__);
gStatus = ! MMAL_SUCCESS;
}
else if ((gStatus = nullsink_preview(&gState.preview_parameters)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create preview component", __func__);
destroy_camera_component(&gState);
gStatus = ! MMAL_SUCCESS;
}
else
{
gCamera_preview_port = gState.camera_component->output[MMAL_CAMERA_PREVIEW_PORT];
gCamera_video_port = gState.camera_component->output[MMAL_CAMERA_VIDEO_PORT];
gCamera_still_port = gState.camera_component->output[MMAL_CAMERA_CAPTURE_PORT];
// Note we are lucky that the preview and null sink components use the same input port
// so we can simple do this without conditionals
gPreview_input_port = gState.preview_parameters.preview_component->input[0];
// Connect camera to preview (which might be a null_sink if no preview required)
gStatus = connect_ports(gCamera_preview_port, gPreview_input_port, &gState.preview_connection);
if (gStatus == MMAL_SUCCESS)
{
VCOS_STATUS_T vcos_status;
// Set up our userdata - this is passed though to the callback where we need the information.
gCallback_data.pstate = &gState;
vcos_status = vcos_semaphore_create(&gCallback_data.complete_semaphore, "RaspiStill-sem", 0);
vcos_assert(vcos_status == VCOS_SUCCESS);
gCamera_still_port->userdata = (struct MMAL_PORT_USERDATA_T *)&gCallback_data;
// Enable the camera still output port and tell it its callback function
gStatus = mmal_port_enable(gCamera_still_port, camera_buffer_callback);
if (gStatus != MMAL_SUCCESS)
{
vcos_log_error("Failed to setup camera output");
error_cam();
}
}
else
{
mmal_status_to_int(gStatus);
vcos_log_error("%s: Failed to connect camera to preview", __func__);
}
}
if (gStatus != MMAL_SUCCESS)
raspicamcontrol_check_configuration(128);
return gStatus != MMAL_SUCCESS;
}
/**
* main
*/
int main(int argc, const char **argv)
{
// Our main data storage vessel..
RASPISTILLYUV_STATE state;
int exit_code = EX_OK;
MMAL_STATUS_T status = MMAL_SUCCESS;
MMAL_PORT_T *camera_preview_port = NULL;
MMAL_PORT_T *camera_video_port = NULL;
MMAL_PORT_T *camera_still_port = NULL;
MMAL_PORT_T *preview_input_port = NULL;
FILE *output_file = NULL;
bcm_host_init();
// Register our application with the logging system
vcos_log_register("RaspiStill", VCOS_LOG_CATEGORY);
signal(SIGINT, signal_handler);
// Disable USR1 for the moment - may be reenabled if go in to signal capture mode
signal(SIGUSR1, SIG_IGN);
default_status(&state);
// Do we have any parameters
if (argc == 1)
{
fprintf(stdout, "\n%s Camera App %s\n\n", basename(argv[0]), VERSION_STRING);
display_valid_parameters(basename(argv[0]));
exit(EX_USAGE);
}
default_status(&state);
// Parse the command line and put options in to our status structure
if (parse_cmdline(argc, argv, &state))
{
status = -1;
exit(EX_USAGE);
}
if (state.verbose)
{
fprintf(stderr, "\n%s Camera App %s\n\n", basename(argv[0]), VERSION_STRING);
dump_status(&state);
}
// OK, we have a nice set of parameters. Now set up our components
// We have two components. Camera and Preview
// Camera is different in stills/video, but preview
// is the same so handed off to a separate module
if ((status = create_camera_component(&state)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create camera component", __func__);
exit_code = EX_SOFTWARE;
}
else if ((status = raspipreview_create(&state.preview_parameters)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create preview component", __func__);
destroy_camera_component(&state);
exit_code = EX_SOFTWARE;
}
else
{
PORT_USERDATA callback_data;
if (state.verbose)
fprintf(stderr, "Starting component connection stage\n");
camera_preview_port = state.camera_component->output[MMAL_CAMERA_PREVIEW_PORT];
camera_video_port = state.camera_component->output[MMAL_CAMERA_VIDEO_PORT];
camera_still_port = state.camera_component->output[MMAL_CAMERA_CAPTURE_PORT];
// Note we are lucky that the preview and null sink components use the same input port
// so we can simple do this without conditionals
preview_input_port = state.preview_parameters.preview_component->input[0];
// Connect camera to preview (which might be a null_sink if no preview required)
status = connect_ports(camera_preview_port, preview_input_port, &state.preview_connection);
if (status == MMAL_SUCCESS)
{
VCOS_STATUS_T vcos_status;
// Set up our userdata - this is passed though to the callback where we need the information.
// Null until we open our filename
callback_data.file_handle = NULL;
callback_data.pstate = &state;
vcos_status = vcos_semaphore_create(&callback_data.complete_semaphore, "RaspiStill-sem", 0);
vcos_assert(vcos_status == VCOS_SUCCESS);
camera_still_port->userdata = (struct MMAL_PORT_USERDATA_T *)&callback_data;
if (state.verbose)
fprintf(stderr, "Enabling camera still output port\n");
// Enable the camera still output port and tell it its callback function
status = mmal_port_enable(camera_still_port, camera_buffer_callback);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to setup camera output");
goto error;
}
if (state.verbose)
fprintf(stderr, "Starting video preview\n");
int frame, keep_looping = 1;
FILE *output_file = NULL;
char *use_filename = NULL; // Temporary filename while image being written
char *final_filename = NULL; // Name that file gets once writing complete
frame = 0;
while (keep_looping)
{
keep_looping = wait_for_next_frame(&state, &frame);
// Open the file
if (state.filename)
{
if (state.filename[0] == '-')
{
output_file = stdout;
// Ensure we don't upset the output stream with diagnostics/info
state.verbose = 0;
}
else
{
vcos_assert(use_filename == NULL && final_filename == NULL);
status = create_filenames(&final_filename, &use_filename, state.filename, frame);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to create filenames");
goto error;
}
if (state.verbose)
fprintf(stderr, "Opening output file %s\n", final_filename);
// Technically it is opening the temp~ filename which will be ranamed to the final filename
output_file = fopen(use_filename, "wb");
if (!output_file)
{
// Notify user, carry on but discarding encoded output buffers
vcos_log_error("%s: Error opening output file: %s\nNo output file will be generated\n", __func__, use_filename);
}
}
callback_data.file_handle = output_file;
}
if (output_file)
{
int num, q;
// There is a possibility that shutter needs to be set each loop.
if (mmal_status_to_int(mmal_port_parameter_set_uint32(state.camera_component->control, MMAL_PARAMETER_SHUTTER_SPEED, state.camera_parameters.shutter_speed) != MMAL_SUCCESS))
vcos_log_error("Unable to set shutter speed");
// Send all the buffers to the camera output port
num = mmal_queue_length(state.camera_pool->queue);
for (q=0;q<num;q++)
{
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(state.camera_pool->queue);
if (!buffer)
vcos_log_error("Unable to get a required buffer %d from pool queue", q);
if (mmal_port_send_buffer(camera_still_port, buffer)!= MMAL_SUCCESS)
vcos_log_error("Unable to send a buffer to camera output port (%d)", q);
}
if (state.burstCaptureMode && frame==1)
{
mmal_port_parameter_set_boolean(state.camera_component->control, MMAL_PARAMETER_CAMERA_BURST_CAPTURE, 1);
}
if (state.verbose)
fprintf(stderr, "Starting capture %d\n", frame);
if (mmal_port_parameter_set_boolean(camera_still_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to start capture", __func__);
}
else
{
// Wait for capture to complete
// For some reason using vcos_semaphore_wait_timeout sometimes returns immediately with bad parameter error
// even though it appears to be all correct, so reverting to untimed one until figure out why its erratic
vcos_semaphore_wait(&callback_data.complete_semaphore);
if (state.verbose)
fprintf(stderr, "Finished capture %d\n", frame);
}
// Ensure we don't die if get callback with no open file
callback_data.file_handle = NULL;
if (output_file != stdout)
{
rename_file(&state, output_file, final_filename, use_filename, frame);
}
}
if (use_filename)
{
free(use_filename);
use_filename = NULL;
}
if (final_filename)
{
free(final_filename);
final_filename = NULL;
}
} // end for (frame)
vcos_semaphore_delete(&callback_data.complete_semaphore);
}
else
{
mmal_status_to_int(status);
vcos_log_error("%s: Failed to connect camera to preview", __func__);
}
error:
mmal_status_to_int(status);
if (state.verbose)
fprintf(stderr, "Closing down\n");
if (output_file)
fclose(output_file);
// Disable all our ports that are not handled by connections
check_disable_port(camera_video_port);
if (state.preview_connection)
mmal_connection_destroy(state.preview_connection);
/* Disable components */
if (state.preview_parameters.preview_component)
mmal_component_disable(state.preview_parameters.preview_component);
if (state.camera_component)
mmal_component_disable(state.camera_component);
raspipreview_destroy(&state.preview_parameters);
destroy_camera_component(&state);
if (state.verbose)
fprintf(stderr, "Close down completed, all components disconnected, disabled and destroyed\n\n");
}
if (status != MMAL_SUCCESS)
raspicamcontrol_check_configuration(128);
return exit_code;
}
int main( int argc, char **argv )
{
int32_t ret;
char optstring[OPTSTRING_LEN];
int opt;
int opt_alloc = 0;
int opt_status = 0;
uint32_t alloc_size = 0;
int opt_pid = -1;
VCSM_STATUS_T status_mode = VCSM_STATUS_NONE;
void *usr_ptr_1;
unsigned int usr_hdl_1;
#if defined(DOUBLE_ALLOC) || defined(RESIZE_ALLOC)
void *usr_ptr_2;
unsigned int usr_hdl_2;
#endif
// Initialize VCOS
vcos_init();
vcos_log_set_level(&smem_log_category, VCOS_LOG_INFO);
smem_log_category.flags.want_prefix = 0;
vcos_log_register( "smem", &smem_log_category );
// Create the option string that we will be using to parse the arguments
create_optstring( optstring );
// Parse the command line arguments
while (( opt = getopt_long_only( argc, argv, optstring, long_opts,
NULL )) != -1 )
{
switch ( opt )
{
case 0:
{
// getopt_long returns 0 for entries where flag is non-NULL
break;
}
case OPT_ALLOC:
{
char *end;
alloc_size = (uint32_t)strtoul( optarg, &end, 10 );
if (end == optarg)
{
vcos_log_info( "Invalid arguments '%s'", optarg );
goto err_out;
}
opt_alloc = 1;
break;
}
case OPT_PID:
{
char *end;
opt_pid = (int)strtol( optarg, &end, 10 );
if (end == optarg)
{
vcos_log_info( "Invalid arguments '%s'", optarg );
goto err_out;
}
break;
}
case OPT_STATUS:
{
char status_str[32];
/* coverity[secure_coding] String length specified, so can't overflow */
if ( sscanf( optarg, "%31s", status_str ) != 1 )
{
vcos_log_info( "Invalid arguments '%s'", optarg );
goto err_out;
}
if ( vcos_strcasecmp( status_str, "all" ) == 0 )
{
status_mode = VCSM_STATUS_VC_MAP_ALL;
}
else if ( vcos_strcasecmp( status_str, "vc" ) == 0 )
{
status_mode = VCSM_STATUS_VC_WALK_ALLOC;
}
else if ( vcos_strcasecmp( status_str, "map" ) == 0 )
{
status_mode = VCSM_STATUS_HOST_WALK_MAP;
}
else if ( vcos_strcasecmp( status_str, "host" ) == 0 )
{
status_mode = VCSM_STATUS_HOST_WALK_PID_ALLOC;
}
else
{
goto err_out;
}
opt_status = 1;
break;
}
default:
{
vcos_log_info( "Unrecognized option '%d'", opt );
goto err_usage;
}
case '?':
case OPT_HELP:
{
goto err_usage;
}
} // end switch
} // end while
argc -= optind;
argv += optind;
if (( optind == 1 ) || ( argc > 0 ))
{
if ( argc > 0 )
{
vcos_log_info( "Unrecognized argument -- '%s'", *argv );
}
goto err_usage;
}
// Start the shared memory support.
if ( vcsm_init() == -1 )
{
vcos_log_info( "Cannot initialize smem device" );
goto err_out;
}
if ( opt_alloc == 1 )
{
vcos_log_info( "Allocating 2 times %u-bytes in shared memory", alloc_size );
usr_hdl_1 = vcsm_malloc( alloc_size,
"smem-test-alloc" );
vcos_log_info( "Allocation 1 result: user %x, vc-hdl %x",
usr_hdl_1, vcsm_vc_hdl_from_hdl( usr_hdl_1 ) );
#if defined(DOUBLE_ALLOC) || defined(RESIZE_ALLOC)
usr_hdl_2 = vcsm_malloc( alloc_size,
NULL );
vcos_log_info( "Allocation 2 result: user %x",
usr_hdl_2 );
usr_ptr_2 = vcsm_lock( usr_hdl_2 );
vcos_log_info( "Allocation 2 : lock %p",
usr_ptr_2 );
vcos_log_info( "Allocation 2 : unlock %d",
vcsm_unlock_hdl( usr_hdl_2 ) );
#endif
// Do a simple write/read test.
if ( usr_hdl_1 != 0 )
{
usr_ptr_1 = vcsm_lock( usr_hdl_1 );
vcos_log_info( "Allocation 1 : lock %p",
usr_ptr_1 );
if ( usr_ptr_1 )
{
memset ( usr_ptr_1,
0,
alloc_size );
memcpy ( usr_ptr_1,
blah_blah,
32 );
vcos_log_info( "Allocation 1 contains: \"%s\"",
(char *)usr_ptr_1 );
vcos_log_info( "Allocation 1: vc-hdl %x",
vcsm_vc_hdl_from_ptr ( usr_ptr_1 ) );
vcos_log_info( "Allocation 1: usr-hdl %x",
vcsm_usr_handle ( usr_ptr_1 ) );
vcos_log_info( "Allocation 1 : unlock %d",
vcsm_unlock_ptr( usr_ptr_1 ) );
}
usr_ptr_1 = vcsm_lock( usr_hdl_1 );
vcos_log_info( "Allocation 1 (relock) : lock %p",
usr_ptr_1 );
if ( usr_ptr_1 )
{
vcos_log_info( "Allocation 1 (relock) : unlock %d",
vcsm_unlock_hdl( usr_hdl_1 ) );
}
}
#if defined(RESIZE_ALLOC)
ret = vcsm_resize( usr_hdl_1, 2 * alloc_size );
vcos_log_info( "Allocation 1 : resize %d", ret );
if ( ret == 0 )
{
usr_ptr_1 = vcsm_lock( usr_hdl_1 );
vcos_log_info( "Allocation 1 (resize) : lock %p",
usr_ptr_1 );
if ( usr_ptr_1 )
{
memset ( usr_ptr_1,
0,
2 * alloc_size );
memcpy ( usr_ptr_1,
blah_blah,
32 );
vcos_log_info( "Allocation 1 (resized) contains: \"%s\"",
(char *)usr_ptr_1 );
vcos_log_info( "Allocation 1 (resized) : unlock %d",
vcsm_unlock_ptr( usr_ptr_1 ) );
}
}
// This checks that the memory can be remapped properly
// because the Block 1 expanded beyond Block 2 boundary.
//
usr_ptr_2 = vcsm_lock( usr_hdl_2 );
vcos_log_info( "Allocation 2 : lock %p",
usr_ptr_2 );
vcos_log_info( "Allocation 2 : unlock %d",
vcsm_unlock_hdl( usr_hdl_2 ) );
// This checks that we can free a memory block even if it
// is locked, which could be the case if the application
// dies.
//
usr_ptr_2 = vcsm_lock( usr_hdl_2 );
vcos_log_info( "Allocation 2 : lock %p",
usr_ptr_2 );
vcsm_free ( usr_hdl_2 );
#endif
#if defined(DOUBLE_ALLOC)
#endif
}
if ( opt_status == 1 )
{
get_status( status_mode, opt_pid );
}
// If we allocated something, wait for the signal to exit to give chance for the
// user to poke around the allocation test.
//
if ( opt_alloc == 1 )
{
start_monitor();
vcos_event_wait( &quit_event );
vcos_event_delete( &quit_event );
}
// Terminate the shared memory support.
vcsm_exit ();
goto err_out;
err_usage:
show_usage();
err_out:
exit( 1 );
}
