[324] | 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2014/07/17
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| 6 | // filename: V4LCamera.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: base class for V4l camera
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "V4LCamera.h"
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| 19 | #include <GroupBox.h>
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| 20 | #include <DoubleSpinBox.h>
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| 21 | #include <CheckBox.h>
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| 22 | #include <Label.h>
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| 23 | #include <Image.h>
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| 24 | #include <FrameworkManager.h>
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| 25 | #include <fcntl.h>
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| 26 | #include <linux/videodev2.h>
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| 27 | #include <sys/ioctl.h>
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| 28 | #include <unistd.h>
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| 29 | #include <cstring>
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| 30 | #include <sys/mman.h>
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| 31 |
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| 32 | #define DEFAULT_V4L_BUFFERS 4
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| 33 |
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| 34 | using std::string;
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| 35 | using namespace flair::core;
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| 36 | using namespace flair::gui;
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| 37 |
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| 38 | namespace flair {
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| 39 | namespace sensor {
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| 40 |
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| 41 | V4LCamera::V4LCamera(string name,
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| 42 | uint8_t camera_index, uint16_t width, uint16_t height,
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| 43 | Image::Type::Format format, uint8_t priority)
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| 44 | : Thread(getFrameworkManager(), name, priority),
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| 45 | Camera(name, width, height, format) {
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| 46 |
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| 47 | string deviceName="/dev/video"+std::to_string(camera_index);
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| 48 | device = open(deviceName.c_str(), O_RDWR | O_NONBLOCK);
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| 49 | if (device == -1) {
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| 50 | Thread::Err("Cannot open %s\n",deviceName.c_str());
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| 51 | } else {
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| 52 | Printf("V4LCamera %s, opened %s\n",name.c_str(),deviceName.c_str());
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| 53 | }
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| 54 |
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| 55 | struct v4l2_capability cap;
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| 56 | memset(&cap, 0, sizeof (v4l2_capability));
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| 57 | if (xioctl (device, VIDIOC_QUERYCAP, &cap)==-1) {
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| 58 | Thread::Err("VIDIOC_QUERYCAP xioctl\n");
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| 59 | }
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| 60 | if ((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
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| 61 | Thread::Err("device is unable to capture video memory.\n");
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| 62 | }
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| 63 | /*
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| 64 | * unnecessary?
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| 65 | struct video_capability capability;
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| 66 | memset(&capability, 0, sizeof (video_capability));
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| 67 | capability.type = cap.capabilities;
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| 68 |
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| 69 | // Query channels number
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| 70 | if (xioctl(device, VIDIOC_G_INPUT, &capability.channels)==-1) {
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| 71 | Thread::Err("VIDIOC_G_INPUT xioctl\n");
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| 72 | }
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| 73 | */
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| 74 | //get v4l2_format
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| 75 | struct v4l2_format form;
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| 76 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 77 | if(xioctl (device, VIDIOC_G_FMT,&form)==-1) {
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| 78 | Thread::Err("VIDIOC_G_FMT xioctl\n");
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| 79 | }
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| 80 |
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| 81 | //set width, height and format
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| 82 | if (format == Image::Type::Format::UYVY) {
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| 83 | form.fmt.pix.pixelformat = V4L2_PIX_FMT_UYVY;
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| 84 | } else if (format == Image::Type::Format::YUYV) {
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| 85 | form.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
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| 86 | } else {
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| 87 | Thread::Err("format not supported\n");
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| 88 | }
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| 89 |
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| 90 | form.fmt.pix.width = width;
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| 91 | form.fmt.pix.height = height;
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| 92 | form.fmt.win.chromakey = 0;
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| 93 | form.fmt.win.field = V4L2_FIELD_ANY;
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| 94 | form.fmt.win.clips = 0;
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| 95 | form.fmt.win.clipcount = 0;
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| 96 | form.fmt.pix.field = V4L2_FIELD_ANY;
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| 97 | if(xioctl (device, VIDIOC_S_FMT,&form)==-1) {
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| 98 | Thread::Err("VIDIOC_S_FMT xioctl\n");
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| 99 | }
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| 100 |
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| 101 | //alloc and queue bufs
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| 102 | AllocBuffers();
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| 103 | for (int bufferIndex = 0; bufferIndex < nbBuffers;++bufferIndex) {
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| 104 | QueueBuffer(bufferIndex);
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| 105 | }
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| 106 |
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| 107 | // enable the streaming
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| 108 | v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 109 | if (xioctl (device, VIDIOC_STREAMON,&type)==-1) {
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| 110 | Thread::Err("VIDIOC_STREAMON xioctl\n");
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| 111 | }
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| 112 |
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| 113 | // skip first frame. it is often bad -- this is unnotied in traditional apps,
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| 114 | // but could be fatal if bad jpeg is enabled
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| 115 | bufferIndex=-1;
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| 116 | GrabFrame();
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| 117 |
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| 118 | // ground station
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| 119 | gain = new DoubleSpinBox(GetGroupBox()->NewRow(), "gain:", 0, 1, 0.1);
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| 120 | exposure = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "exposure:", 0,1, 0.1);
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| 121 | bright = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "bright:", 0, 1, 0.1);
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| 122 | contrast = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "contrast:", 0,1, 0.1);
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| 123 | hue = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "hue:", 0, 1, 0.1);
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| 124 | sharpness = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "sharpness:", 0, 1, 0.1);
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| 125 | sat = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "saturation:", 0, 1,0.1);
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| 126 | autogain = new CheckBox(GetGroupBox()->NewRow(), "autogain:");
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| 127 | autoexposure = new CheckBox(GetGroupBox()->LastRowLastCol(), "autoexposure:");
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| 128 | awb = new CheckBox(GetGroupBox()->LastRowLastCol(), "awb:");
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| 129 | fps = new Label(GetGroupBox()->NewRow(), "fps");
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| 130 |
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| 131 | hasProblems=false;
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| 132 | }
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| 133 |
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| 134 | V4LCamera::~V4LCamera() {
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| 135 | SafeStop();
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| 136 | Join();
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| 137 | }
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| 138 |
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| 139 | void V4LCamera::Run(void) {
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| 140 | Time cam_time, new_time, fpsNow, fpsPrev;
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| 141 | char* buffer; // raw image
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| 142 | int fpsCounter = 0;
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| 143 |
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| 144 | // init image old
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| 145 | GrabFrame();
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| 146 | cam_time = GetTime();
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| 147 | fpsPrev = cam_time;
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| 148 |
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| 149 | while (!ToBeStopped()) {
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| 150 | //check for ps3eye deconnection in hds uav
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| 151 | if(hasProblems==false) {
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| 152 | struct v4l2_format form;
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| 153 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 154 | xioctl(device, VIDIOC_G_FMT,&form);
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| 155 | if(xioctl (device, VIDIOC_G_FMT,&form)<0) {
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| 156 | Thread::Warn("camera disconnected\n");
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| 157 | hasProblems=true;
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| 158 | }
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| 159 | }
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| 160 |
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| 161 | // fps counter
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| 162 | fpsCounter++;
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| 163 | if (GetTime() > (fpsPrev + 5 * (Time)1000000000)) {
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| 164 | // every 5 secondes
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| 165 | fpsNow = GetTime();
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| 166 | fps->SetText("fps: %.1f",
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| 167 | fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
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| 168 | fpsCounter = 0;
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| 169 | fpsPrev = fpsNow;
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| 170 | }
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| 171 |
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| 172 | // cam properties
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| 173 | if (gain->ValueChanged() == true && autogain->Value() == false)
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| 174 | SetGain(gain->Value());
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| 175 | if (exposure->ValueChanged() == true && autoexposure->Value() == false)
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| 176 | SetExposure(exposure->Value());
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| 177 | if (bright->ValueChanged() == true)
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| 178 | SetBrightness(bright->Value());
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| 179 | if (sat->ValueChanged() == true)
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| 180 | SetSaturation(sat->Value());
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| 181 | if (contrast->ValueChanged() == true)
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| 182 | SetContrast(contrast->Value());
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| 183 | if (hue->ValueChanged() == true)
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| 184 | SetHue(hue->Value());
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| 185 | if (sharpness->ValueChanged() == true)
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| 186 | SetProperty(V4L2_CID_SHARPNESS, sharpness->Value());
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| 187 | if (autogain->ValueChanged() == true) {
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| 188 | if (autogain->Value() == true) {
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| 189 | gain->setEnabled(false);
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| 190 | } else {
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| 191 | gain->setEnabled(true);
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| 192 | SetGain(gain->Value());
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| 193 | }
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| 194 | SetAutoGain(autogain->Value());
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| 195 | }
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| 196 | if (autoexposure->ValueChanged() == true) {
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| 197 | if (autoexposure->Value() == true) {
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| 198 | exposure->setEnabled(false);
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| 199 | } else {
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| 200 | exposure->setEnabled(true);
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| 201 | SetExposure(exposure->Value());
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| 202 | }
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| 203 | SetAutoExposure(autoexposure->Value());
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| 204 | }
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| 205 | if (awb->ValueChanged() == true)
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| 206 | SetProperty(V4L2_CID_AUTO_WHITE_BALANCE, awb->Value());
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| 207 |
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| 208 | // get picture
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| 209 | GrabFrame();
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| 210 | new_time = GetTime();
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| 211 |
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| 212 | //check for ps3eye deconnection in hds uav
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| 213 | if(new_time-cam_time>100*1000*1000) {
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| 214 | Thread::Warn("delta trop grand\n");
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| 215 | hasProblems=true;
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| 216 | }
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| 217 | Printf("todo allocate 1 frame and copy here\n");
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| 218 | output->GetMutex();
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| 219 | output->buffer = buffer;
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| 220 | output->ReleaseMutex();
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| 221 |
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| 222 | output->SetDataTime(cam_time);
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| 223 | ProcessUpdate(output);
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| 224 |
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| 225 | cam_time = new_time;
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| 226 | }
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| 227 |
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| 228 | close(device);
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| 229 | }
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| 230 |
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| 231 | int V4LCamera::QueueBuffer(int index) {
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| 232 | struct v4l2_buffer buf;
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| 233 | if(index>=0 && index<nbBuffers) {
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| 234 | memset(&buf, 0, sizeof (v4l2_buffer));
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| 235 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 236 | buf.memory = V4L2_MEMORY_MMAP;
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| 237 | buf.index = (unsigned long)index;
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| 238 |
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| 239 | if (xioctl (device, VIDIOC_QBUF, &buf)==-1) {
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| 240 | Thread::Err("VIDIOC_QBUF xioctl\n");
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| 241 | return -1;
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| 242 | }
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| 243 | }
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| 244 | return 0;
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| 245 | }
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| 246 |
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| 247 | int V4LCamera::GrabFrame(void) {
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| 248 | //queue previous buffer
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| 249 | if(QueueBuffer(bufferIndex)<0) return -1;
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| 250 |
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| 251 | fd_set fds;
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| 252 | struct timeval tv;
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| 253 | FD_ZERO (&fds);
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| 254 | FD_SET (device, &fds);
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| 255 |
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| 256 | tv.tv_sec = 0;
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| 257 | tv.tv_usec = 100000;
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| 258 | //Printf("%lld\n",GetTimeMS());
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| 259 | int r = select (device+1, &fds, NULL, NULL, &tv);
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| 260 | //Printf("%lld select ok\n",GetTimeMS());
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| 261 | if (-1 == r) {
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| 262 | char errorMsg[256];
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| 263 | Thread::Err("select (%s)\n", strerror_r(-r, errorMsg, sizeof(errorMsg)));
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| 264 | return -1;
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| 265 | }
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| 266 |
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| 267 | if (0 == r) {
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| 268 | Thread::Err("select timeout\n");
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| 269 | return -1;
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| 270 | }
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| 271 |
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| 272 | struct v4l2_buffer buf;
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| 273 | memset(&buf, 0, sizeof (v4l2_buffer));
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| 274 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 275 | buf.memory = V4L2_MEMORY_MMAP;
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| 276 |
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| 277 | //get last captured image
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| 278 | int prevDQbuf=-1;
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| 279 | for(int i=0;i<4;i++) {
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| 280 | //Printf("%lld ioctl\n",GetTimeMS());
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| 281 | if (xioctl (device, VIDIOC_DQBUF, &buf)==-1) {
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| 282 | // Printf("iter %i err %i\n",i,errno);
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| 283 | if (errno==EAGAIN) {
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| 284 | //Printf("exit buf %i\n",buf.index);
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| 285 | break;
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| 286 | } else {
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| 287 | Thread::Err("VIDIOC_DQBUF xioctl\n");
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| 288 | return -1;
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| 289 | }
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| 290 | } else {
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| 291 | //Printf("buf %i\n",buf.index);
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| 292 | if(prevDQbuf!=-1) {
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| 293 | QueueBuffer(prevDQbuf);
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| 294 | //Printf("queued %i\n",prevDQbuf);
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| 295 | }
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| 296 | prevDQbuf=buf.index;
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| 297 | }
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| 298 | //Printf("%lld ioctl ok\n",GetTimeMS());
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| 299 | }
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| 300 |
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| 301 | if(buf.index >= nbBuffers) {
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| 302 | Thread::Err("buf.index >= nbBuffers\n");
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| 303 | return -1;
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| 304 | }
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| 305 |
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| 306 | bufferIndex=buf.index;
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| 307 |
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| 308 | return 1;
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| 309 | }
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| 310 |
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| 311 | int V4LCamera::AllocBuffers(void) {
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| 312 | struct v4l2_requestbuffers requestbuffers;
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| 313 | memset(&requestbuffers, 0, sizeof (v4l2_requestbuffers));
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| 314 |
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| 315 | unsigned int buffer_number = DEFAULT_V4L_BUFFERS;
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| 316 |
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| 317 | try_again:
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| 318 |
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| 319 | requestbuffers.count = buffer_number;
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| 320 | requestbuffers.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 321 | requestbuffers.memory = V4L2_MEMORY_MMAP;
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| 322 |
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| 323 | if (xioctl (device, VIDIOC_REQBUFS, &requestbuffers)==-1) {
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| 324 | if (EINVAL == errno) {
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| 325 | Thread::Err("memory mapping not supported\n");
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| 326 | } else {
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| 327 | Thread::Err ("VIDIOC_REQBUFS xioctl\n");
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| 328 | }
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| 329 | return -1;
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| 330 | }
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| 331 |
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| 332 | if (requestbuffers.count < buffer_number) {
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| 333 | if (buffer_number == 1) {
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| 334 | Thread::Err("Insufficient buffer memory\n");
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| 335 | return -1;
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| 336 | } else {
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| 337 | buffer_number--;
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| 338 | Thread::Warn ("Insufficient buffer memory, decreasing buffers\n");
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| 339 | goto try_again;
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| 340 | }
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| 341 | }
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| 342 |
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| 343 | for (int n_buffers = 0; n_buffers < requestbuffers.count; ++n_buffers) {
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| 344 | struct v4l2_buffer buf;
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| 345 |
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| 346 | memset(&buf, 0, sizeof (v4l2_buffer));
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| 347 |
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| 348 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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| 349 | buf.memory = V4L2_MEMORY_MMAP;
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| 350 | buf.index = n_buffers;
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| 351 |
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| 352 | if (xioctl (device, VIDIOC_QUERYBUF, &buf)==-1) {
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| 353 | Thread::Err("VIDIOC_QUERYBUF xioctl\n");
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| 354 | return -1;
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| 355 | }
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| 356 |
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| 357 | buffers[n_buffers].length = buf.length;
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| 358 | buffers[n_buffers].start =
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| 359 | mmap (NULL /* start anywhere */,
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| 360 | buf.length,
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| 361 | PROT_READ | PROT_WRITE /* required */,
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| 362 | MAP_SHARED /* recommended */,
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| 363 | device, buf.m.offset);
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| 364 | Printf("buffer %i start %x length %i\n",n_buffers,buffers[n_buffers].start,buffers[n_buffers].length);
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| 365 | if (MAP_FAILED == buffers[n_buffers].start) {
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| 366 | Thread::Err("mmap\n");
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| 367 | return -1;
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| 368 | }
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| 369 | }
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| 370 | nbBuffers=requestbuffers.count;
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| 371 | Printf("allocated %i buffers\n",nbBuffers);
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| 372 | return 1;
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| 373 | };
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| 374 |
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| 375 | bool V4LCamera::HasProblems(void) {
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| 376 | return hasProblems;
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| 377 | }
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| 378 |
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| 379 | void V4LCamera::SetAutoGain(bool value) {
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| 380 | SetProperty(V4L2_CID_AUTOGAIN, value);
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| 381 | }
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| 382 |
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| 383 | void V4LCamera::SetAutoExposure(bool value) {
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| 384 | Thread::Warn("not implemented\n");
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| 385 | }
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| 386 |
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| 387 | void V4LCamera::SetGain(float value) {
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| 388 | SetProperty(V4L2_CID_GAIN, value);
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| 389 | }
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| 390 |
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| 391 | void V4LCamera::SetExposure(float value) {
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| 392 | SetProperty(V4L2_CID_EXPOSURE, value);
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| 393 | }
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| 394 |
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| 395 | void V4LCamera::SetBrightness(float value) {
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| 396 | SetProperty(V4L2_CID_BRIGHTNESS, value);
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| 397 | }
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| 398 |
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| 399 | void V4LCamera::SetSaturation(float value) {
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| 400 | SetProperty(V4L2_CID_SATURATION, value);
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| 401 | }
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| 402 |
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| 403 | void V4LCamera::SetHue(float value) {
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| 404 | SetProperty(V4L2_CID_HUE, value);
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| 405 | }
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| 406 |
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| 407 | void V4LCamera::SetContrast(float value) {
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| 408 | SetProperty(V4L2_CID_CONTRAST, value);
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| 409 | }
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| 410 |
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| 411 | float V4LCamera::GetProperty(int property) {
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| 412 | //get min and max value
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| 413 | struct v4l2_queryctrl queryctrl;
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| 414 | queryctrl.id = property;
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| 415 | if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) return -1;
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| 416 | int min = queryctrl.minimum;
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| 417 | int max = queryctrl.maximum;
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| 418 |
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| 419 | //set value
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| 420 | struct v4l2_control control;
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| 421 | memset (&control, 0, sizeof (v4l2_control));
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| 422 | control.id = property;
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| 423 | if(xioctl (device,VIDIOC_G_CTRL, &control)==-1) return -1;
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| 424 |
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| 425 | return ((float)control.value - min + 1) / (max - min);
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| 426 | }
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| 427 |
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| 428 | void V4LCamera::SetProperty(int property,float value) {
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| 429 | //get min and max value
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| 430 | struct v4l2_queryctrl queryctrl;
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| 431 | queryctrl.id = property;
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| 432 | xioctl (device, VIDIOC_QUERYCTRL,&queryctrl);
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| 433 | int min = queryctrl.minimum;
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| 434 | int max = queryctrl.maximum;
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| 435 |
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| 436 | //set value
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| 437 | struct v4l2_control control;
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| 438 | memset (&control, 0, sizeof (v4l2_control));
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| 439 | control.id = property;
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| 440 | control.value = (int)(value * (max - min) + min);
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| 441 | xioctl (device,VIDIOC_S_CTRL, &control);
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| 442 | }
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| 443 |
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| 444 | int V4LCamera::xioctl( int fd, int request, void *arg) {
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| 445 | int r;
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| 446 |
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| 447 | do r = ioctl (fd, request, arg);
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| 448 | while (-1 == r && EINTR == errno);
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| 449 |
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| 450 | return r;
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| 451 | }
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| 452 |
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| 453 | } // end namespace sensor
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| 454 | } // end namespace flair
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