[324] | 1 | // %flair:license{
|
---|
| 2 | // This file is part of the Flair framework distributed under the
|
---|
| 3 | // CECILL-C License, Version 1.0.
|
---|
| 4 | // %flair:license}
|
---|
| 5 | // created: 2014/07/17
|
---|
| 6 | // filename: V4LCamera.cpp
|
---|
| 7 | //
|
---|
| 8 | // author: Guillaume Sanahuja
|
---|
| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
|
---|
| 10 | //
|
---|
| 11 | // version: $Id: $
|
---|
| 12 | //
|
---|
| 13 | // purpose: base class for V4l camera
|
---|
| 14 | //
|
---|
| 15 | //
|
---|
| 16 | /*********************************************************************/
|
---|
| 17 |
|
---|
| 18 | #include "V4LCamera.h"
|
---|
| 19 | #include <GroupBox.h>
|
---|
| 20 | #include <DoubleSpinBox.h>
|
---|
| 21 | #include <CheckBox.h>
|
---|
| 22 | #include <Label.h>
|
---|
| 23 | #include <Image.h>
|
---|
| 24 | #include <FrameworkManager.h>
|
---|
| 25 | #include <fcntl.h>
|
---|
| 26 | #include <linux/videodev2.h>
|
---|
| 27 | #include <sys/ioctl.h>
|
---|
| 28 | #include <unistd.h>
|
---|
| 29 | #include <cstring>
|
---|
| 30 | #include <sys/mman.h>
|
---|
[328] | 31 | #include <VisionFilter.h>
|
---|
[324] | 32 |
|
---|
| 33 | #define DEFAULT_V4L_BUFFERS 4
|
---|
| 34 |
|
---|
| 35 | using std::string;
|
---|
| 36 | using namespace flair::core;
|
---|
| 37 | using namespace flair::gui;
|
---|
| 38 |
|
---|
| 39 | namespace flair {
|
---|
| 40 | namespace sensor {
|
---|
| 41 |
|
---|
| 42 | V4LCamera::V4LCamera(string name,
|
---|
| 43 | uint8_t camera_index, uint16_t width, uint16_t height,
|
---|
| 44 | Image::Type::Format format, uint8_t priority)
|
---|
| 45 | : Thread(getFrameworkManager(), name, priority),
|
---|
| 46 | Camera(name, width, height, format) {
|
---|
| 47 |
|
---|
| 48 | string deviceName="/dev/video"+std::to_string(camera_index);
|
---|
| 49 | device = open(deviceName.c_str(), O_RDWR | O_NONBLOCK);
|
---|
| 50 | if (device == -1) {
|
---|
| 51 | Thread::Err("Cannot open %s\n",deviceName.c_str());
|
---|
| 52 | } else {
|
---|
| 53 | Printf("V4LCamera %s, opened %s\n",name.c_str(),deviceName.c_str());
|
---|
| 54 | }
|
---|
| 55 |
|
---|
| 56 | struct v4l2_capability cap;
|
---|
| 57 | memset(&cap, 0, sizeof (v4l2_capability));
|
---|
| 58 | if (xioctl (device, VIDIOC_QUERYCAP, &cap)==-1) {
|
---|
| 59 | Thread::Err("VIDIOC_QUERYCAP xioctl\n");
|
---|
| 60 | }
|
---|
| 61 | if ((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
|
---|
| 62 | Thread::Err("device is unable to capture video memory.\n");
|
---|
| 63 | }
|
---|
| 64 | /*
|
---|
| 65 | * unnecessary?
|
---|
| 66 | struct video_capability capability;
|
---|
| 67 | memset(&capability, 0, sizeof (video_capability));
|
---|
| 68 | capability.type = cap.capabilities;
|
---|
| 69 |
|
---|
| 70 | // Query channels number
|
---|
| 71 | if (xioctl(device, VIDIOC_G_INPUT, &capability.channels)==-1) {
|
---|
| 72 | Thread::Err("VIDIOC_G_INPUT xioctl\n");
|
---|
| 73 | }
|
---|
| 74 | */
|
---|
| 75 | //get v4l2_format
|
---|
| 76 | struct v4l2_format form;
|
---|
| 77 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 78 | if(xioctl (device, VIDIOC_G_FMT,&form)==-1) {
|
---|
| 79 | Thread::Err("VIDIOC_G_FMT xioctl\n");
|
---|
| 80 | }
|
---|
| 81 |
|
---|
| 82 | //set width, height and format
|
---|
| 83 | if (format == Image::Type::Format::UYVY) {
|
---|
| 84 | form.fmt.pix.pixelformat = V4L2_PIX_FMT_UYVY;
|
---|
| 85 | } else if (format == Image::Type::Format::YUYV) {
|
---|
| 86 | form.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
|
---|
| 87 | } else {
|
---|
| 88 | Thread::Err("format not supported\n");
|
---|
| 89 | }
|
---|
| 90 |
|
---|
| 91 | form.fmt.pix.width = width;
|
---|
| 92 | form.fmt.pix.height = height;
|
---|
| 93 | form.fmt.win.chromakey = 0;
|
---|
| 94 | form.fmt.win.field = V4L2_FIELD_ANY;
|
---|
| 95 | form.fmt.win.clips = 0;
|
---|
| 96 | form.fmt.win.clipcount = 0;
|
---|
| 97 | form.fmt.pix.field = V4L2_FIELD_ANY;
|
---|
| 98 | if(xioctl (device, VIDIOC_S_FMT,&form)==-1) {
|
---|
| 99 | Thread::Err("VIDIOC_S_FMT xioctl\n");
|
---|
| 100 | }
|
---|
| 101 |
|
---|
| 102 | //alloc and queue bufs
|
---|
| 103 | AllocBuffers();
|
---|
| 104 | for (int bufferIndex = 0; bufferIndex < nbBuffers;++bufferIndex) {
|
---|
| 105 | QueueBuffer(bufferIndex);
|
---|
| 106 | }
|
---|
| 107 |
|
---|
[328] | 108 | //alloc img buf
|
---|
| 109 | Printf("TODO: alloc bufs in cmem and uses it for v4l\n");
|
---|
| 110 | output->buffer=AllocFunction(width*height*2);
|
---|
| 111 |
|
---|
[324] | 112 | // enable the streaming
|
---|
| 113 | v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 114 | if (xioctl (device, VIDIOC_STREAMON,&type)==-1) {
|
---|
| 115 | Thread::Err("VIDIOC_STREAMON xioctl\n");
|
---|
| 116 | }
|
---|
| 117 |
|
---|
| 118 | // skip first frame. it is often bad -- this is unnotied in traditional apps,
|
---|
| 119 | // but could be fatal if bad jpeg is enabled
|
---|
| 120 | bufferIndex=-1;
|
---|
| 121 | GrabFrame();
|
---|
| 122 |
|
---|
| 123 | // ground station
|
---|
| 124 | gain = new DoubleSpinBox(GetGroupBox()->NewRow(), "gain:", 0, 1, 0.1);
|
---|
| 125 | exposure = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "exposure:", 0,1, 0.1);
|
---|
| 126 | bright = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "bright:", 0, 1, 0.1);
|
---|
| 127 | contrast = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "contrast:", 0,1, 0.1);
|
---|
| 128 | hue = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "hue:", 0, 1, 0.1);
|
---|
| 129 | sharpness = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "sharpness:", 0, 1, 0.1);
|
---|
| 130 | sat = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "saturation:", 0, 1,0.1);
|
---|
| 131 | autogain = new CheckBox(GetGroupBox()->NewRow(), "autogain:");
|
---|
| 132 | autoexposure = new CheckBox(GetGroupBox()->LastRowLastCol(), "autoexposure:");
|
---|
| 133 | awb = new CheckBox(GetGroupBox()->LastRowLastCol(), "awb:");
|
---|
| 134 | fps = new Label(GetGroupBox()->NewRow(), "fps");
|
---|
| 135 |
|
---|
| 136 | hasProblems=false;
|
---|
| 137 | }
|
---|
| 138 |
|
---|
| 139 | V4LCamera::~V4LCamera() {
|
---|
[328] | 140 | FreeFunction(output->buffer);
|
---|
[324] | 141 | SafeStop();
|
---|
| 142 | Join();
|
---|
| 143 | }
|
---|
| 144 |
|
---|
| 145 | void V4LCamera::Run(void) {
|
---|
| 146 | Time cam_time, new_time, fpsNow, fpsPrev;
|
---|
| 147 | int fpsCounter = 0;
|
---|
| 148 |
|
---|
| 149 | // init image old
|
---|
| 150 | GrabFrame();
|
---|
| 151 | cam_time = GetTime();
|
---|
| 152 | fpsPrev = cam_time;
|
---|
| 153 |
|
---|
| 154 | while (!ToBeStopped()) {
|
---|
| 155 | //check for ps3eye deconnection in hds uav
|
---|
| 156 | if(hasProblems==false) {
|
---|
| 157 | struct v4l2_format form;
|
---|
| 158 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 159 | xioctl(device, VIDIOC_G_FMT,&form);
|
---|
| 160 | if(xioctl (device, VIDIOC_G_FMT,&form)<0) {
|
---|
| 161 | Thread::Warn("camera disconnected\n");
|
---|
| 162 | hasProblems=true;
|
---|
| 163 | }
|
---|
| 164 | }
|
---|
| 165 |
|
---|
| 166 | // fps counter
|
---|
| 167 | fpsCounter++;
|
---|
| 168 | if (GetTime() > (fpsPrev + 5 * (Time)1000000000)) {
|
---|
| 169 | // every 5 secondes
|
---|
| 170 | fpsNow = GetTime();
|
---|
| 171 | fps->SetText("fps: %.1f",
|
---|
| 172 | fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
|
---|
| 173 | fpsCounter = 0;
|
---|
| 174 | fpsPrev = fpsNow;
|
---|
| 175 | }
|
---|
| 176 |
|
---|
| 177 | // cam properties
|
---|
| 178 | if (gain->ValueChanged() == true && autogain->Value() == false)
|
---|
| 179 | SetGain(gain->Value());
|
---|
| 180 | if (exposure->ValueChanged() == true && autoexposure->Value() == false)
|
---|
| 181 | SetExposure(exposure->Value());
|
---|
| 182 | if (bright->ValueChanged() == true)
|
---|
| 183 | SetBrightness(bright->Value());
|
---|
| 184 | if (sat->ValueChanged() == true)
|
---|
| 185 | SetSaturation(sat->Value());
|
---|
| 186 | if (contrast->ValueChanged() == true)
|
---|
| 187 | SetContrast(contrast->Value());
|
---|
| 188 | if (hue->ValueChanged() == true)
|
---|
| 189 | SetHue(hue->Value());
|
---|
| 190 | if (sharpness->ValueChanged() == true)
|
---|
| 191 | SetProperty(V4L2_CID_SHARPNESS, sharpness->Value());
|
---|
| 192 | if (autogain->ValueChanged() == true) {
|
---|
| 193 | if (autogain->Value() == true) {
|
---|
| 194 | gain->setEnabled(false);
|
---|
| 195 | } else {
|
---|
| 196 | gain->setEnabled(true);
|
---|
| 197 | SetGain(gain->Value());
|
---|
| 198 | }
|
---|
| 199 | SetAutoGain(autogain->Value());
|
---|
| 200 | }
|
---|
| 201 | if (autoexposure->ValueChanged() == true) {
|
---|
| 202 | if (autoexposure->Value() == true) {
|
---|
| 203 | exposure->setEnabled(false);
|
---|
| 204 | } else {
|
---|
| 205 | exposure->setEnabled(true);
|
---|
| 206 | SetExposure(exposure->Value());
|
---|
| 207 | }
|
---|
| 208 | SetAutoExposure(autoexposure->Value());
|
---|
| 209 | }
|
---|
| 210 | if (awb->ValueChanged() == true)
|
---|
| 211 | SetProperty(V4L2_CID_AUTO_WHITE_BALANCE, awb->Value());
|
---|
| 212 |
|
---|
| 213 | // get picture
|
---|
| 214 | GrabFrame();
|
---|
| 215 | new_time = GetTime();
|
---|
| 216 |
|
---|
| 217 | //check for ps3eye deconnection in hds uav
|
---|
| 218 | if(new_time-cam_time>100*1000*1000) {
|
---|
| 219 | Thread::Warn("delta trop grand\n");
|
---|
| 220 | hasProblems=true;
|
---|
| 221 | }
|
---|
[328] | 222 | //Printf("todo allocate 1 frame and copy here\n");
|
---|
[324] | 223 | output->GetMutex();
|
---|
[328] | 224 | memcpy(output->buffer,buffers[bufferIndex].start,buffers[bufferIndex].length);
|
---|
[324] | 225 | output->ReleaseMutex();
|
---|
| 226 |
|
---|
| 227 | output->SetDataTime(cam_time);
|
---|
| 228 | ProcessUpdate(output);
|
---|
| 229 |
|
---|
| 230 | cam_time = new_time;
|
---|
| 231 | }
|
---|
| 232 |
|
---|
| 233 | close(device);
|
---|
| 234 | }
|
---|
| 235 |
|
---|
| 236 | int V4LCamera::QueueBuffer(int index) {
|
---|
| 237 | struct v4l2_buffer buf;
|
---|
| 238 | if(index>=0 && index<nbBuffers) {
|
---|
| 239 | memset(&buf, 0, sizeof (v4l2_buffer));
|
---|
| 240 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 241 | buf.memory = V4L2_MEMORY_MMAP;
|
---|
| 242 | buf.index = (unsigned long)index;
|
---|
| 243 |
|
---|
| 244 | if (xioctl (device, VIDIOC_QBUF, &buf)==-1) {
|
---|
| 245 | Thread::Err("VIDIOC_QBUF xioctl\n");
|
---|
| 246 | return -1;
|
---|
| 247 | }
|
---|
| 248 | }
|
---|
| 249 | return 0;
|
---|
| 250 | }
|
---|
| 251 |
|
---|
| 252 | int V4LCamera::GrabFrame(void) {
|
---|
| 253 | //queue previous buffer
|
---|
| 254 | if(QueueBuffer(bufferIndex)<0) return -1;
|
---|
| 255 |
|
---|
| 256 | fd_set fds;
|
---|
| 257 | struct timeval tv;
|
---|
| 258 | FD_ZERO (&fds);
|
---|
| 259 | FD_SET (device, &fds);
|
---|
| 260 |
|
---|
| 261 | tv.tv_sec = 0;
|
---|
| 262 | tv.tv_usec = 100000;
|
---|
| 263 | //Printf("%lld\n",GetTimeMS());
|
---|
| 264 | int r = select (device+1, &fds, NULL, NULL, &tv);
|
---|
| 265 | //Printf("%lld select ok\n",GetTimeMS());
|
---|
| 266 | if (-1 == r) {
|
---|
| 267 | char errorMsg[256];
|
---|
| 268 | Thread::Err("select (%s)\n", strerror_r(-r, errorMsg, sizeof(errorMsg)));
|
---|
| 269 | return -1;
|
---|
| 270 | }
|
---|
| 271 |
|
---|
| 272 | if (0 == r) {
|
---|
| 273 | Thread::Err("select timeout\n");
|
---|
| 274 | return -1;
|
---|
| 275 | }
|
---|
| 276 |
|
---|
| 277 | struct v4l2_buffer buf;
|
---|
| 278 | memset(&buf, 0, sizeof (v4l2_buffer));
|
---|
| 279 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 280 | buf.memory = V4L2_MEMORY_MMAP;
|
---|
| 281 |
|
---|
| 282 | //get last captured image
|
---|
| 283 | int prevDQbuf=-1;
|
---|
| 284 | for(int i=0;i<4;i++) {
|
---|
| 285 | //Printf("%lld ioctl\n",GetTimeMS());
|
---|
| 286 | if (xioctl (device, VIDIOC_DQBUF, &buf)==-1) {
|
---|
[328] | 287 | //Printf("iter %i err %i\n",i,errno);
|
---|
[324] | 288 | if (errno==EAGAIN) {
|
---|
| 289 | //Printf("exit buf %i\n",buf.index);
|
---|
| 290 | break;
|
---|
| 291 | } else {
|
---|
| 292 | Thread::Err("VIDIOC_DQBUF xioctl\n");
|
---|
| 293 | return -1;
|
---|
| 294 | }
|
---|
| 295 | } else {
|
---|
| 296 | //Printf("buf %i\n",buf.index);
|
---|
| 297 | if(prevDQbuf!=-1) {
|
---|
| 298 | QueueBuffer(prevDQbuf);
|
---|
| 299 | //Printf("queued %i\n",prevDQbuf);
|
---|
| 300 | }
|
---|
| 301 | prevDQbuf=buf.index;
|
---|
| 302 | }
|
---|
| 303 | //Printf("%lld ioctl ok\n",GetTimeMS());
|
---|
| 304 | }
|
---|
| 305 |
|
---|
| 306 | if(buf.index >= nbBuffers) {
|
---|
| 307 | Thread::Err("buf.index >= nbBuffers\n");
|
---|
| 308 | return -1;
|
---|
| 309 | }
|
---|
| 310 |
|
---|
| 311 | bufferIndex=buf.index;
|
---|
| 312 |
|
---|
| 313 | return 1;
|
---|
| 314 | }
|
---|
| 315 |
|
---|
| 316 | int V4LCamera::AllocBuffers(void) {
|
---|
| 317 | struct v4l2_requestbuffers requestbuffers;
|
---|
| 318 | memset(&requestbuffers, 0, sizeof (v4l2_requestbuffers));
|
---|
| 319 |
|
---|
| 320 | unsigned int buffer_number = DEFAULT_V4L_BUFFERS;
|
---|
| 321 |
|
---|
| 322 | try_again:
|
---|
| 323 |
|
---|
| 324 | requestbuffers.count = buffer_number;
|
---|
| 325 | requestbuffers.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 326 | requestbuffers.memory = V4L2_MEMORY_MMAP;
|
---|
| 327 |
|
---|
| 328 | if (xioctl (device, VIDIOC_REQBUFS, &requestbuffers)==-1) {
|
---|
| 329 | if (EINVAL == errno) {
|
---|
| 330 | Thread::Err("memory mapping not supported\n");
|
---|
| 331 | } else {
|
---|
| 332 | Thread::Err ("VIDIOC_REQBUFS xioctl\n");
|
---|
| 333 | }
|
---|
| 334 | return -1;
|
---|
| 335 | }
|
---|
| 336 |
|
---|
| 337 | if (requestbuffers.count < buffer_number) {
|
---|
| 338 | if (buffer_number == 1) {
|
---|
| 339 | Thread::Err("Insufficient buffer memory\n");
|
---|
| 340 | return -1;
|
---|
| 341 | } else {
|
---|
| 342 | buffer_number--;
|
---|
| 343 | Thread::Warn ("Insufficient buffer memory, decreasing buffers\n");
|
---|
| 344 | goto try_again;
|
---|
| 345 | }
|
---|
| 346 | }
|
---|
| 347 |
|
---|
| 348 | for (int n_buffers = 0; n_buffers < requestbuffers.count; ++n_buffers) {
|
---|
| 349 | struct v4l2_buffer buf;
|
---|
| 350 |
|
---|
| 351 | memset(&buf, 0, sizeof (v4l2_buffer));
|
---|
| 352 |
|
---|
| 353 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
---|
| 354 | buf.memory = V4L2_MEMORY_MMAP;
|
---|
| 355 | buf.index = n_buffers;
|
---|
| 356 |
|
---|
| 357 | if (xioctl (device, VIDIOC_QUERYBUF, &buf)==-1) {
|
---|
| 358 | Thread::Err("VIDIOC_QUERYBUF xioctl\n");
|
---|
| 359 | return -1;
|
---|
| 360 | }
|
---|
| 361 |
|
---|
| 362 | buffers[n_buffers].length = buf.length;
|
---|
| 363 | buffers[n_buffers].start =
|
---|
| 364 | mmap (NULL /* start anywhere */,
|
---|
| 365 | buf.length,
|
---|
| 366 | PROT_READ | PROT_WRITE /* required */,
|
---|
| 367 | MAP_SHARED /* recommended */,
|
---|
| 368 | device, buf.m.offset);
|
---|
[328] | 369 | //Printf("buffer %i start %x length %i\n",n_buffers,buffers[n_buffers].start,buffers[n_buffers].length);
|
---|
[324] | 370 | if (MAP_FAILED == buffers[n_buffers].start) {
|
---|
| 371 | Thread::Err("mmap\n");
|
---|
| 372 | return -1;
|
---|
| 373 | }
|
---|
| 374 | }
|
---|
| 375 | nbBuffers=requestbuffers.count;
|
---|
[328] | 376 | //Printf("allocated %i buffers\n",nbBuffers);
|
---|
[324] | 377 | return 1;
|
---|
| 378 | };
|
---|
| 379 |
|
---|
| 380 | bool V4LCamera::HasProblems(void) {
|
---|
| 381 | return hasProblems;
|
---|
| 382 | }
|
---|
| 383 |
|
---|
| 384 | void V4LCamera::SetAutoGain(bool value) {
|
---|
| 385 | SetProperty(V4L2_CID_AUTOGAIN, value);
|
---|
| 386 | }
|
---|
| 387 |
|
---|
| 388 | void V4LCamera::SetAutoExposure(bool value) {
|
---|
| 389 | Thread::Warn("not implemented\n");
|
---|
| 390 | }
|
---|
| 391 |
|
---|
| 392 | void V4LCamera::SetGain(float value) {
|
---|
| 393 | SetProperty(V4L2_CID_GAIN, value);
|
---|
| 394 | }
|
---|
| 395 |
|
---|
| 396 | void V4LCamera::SetExposure(float value) {
|
---|
| 397 | SetProperty(V4L2_CID_EXPOSURE, value);
|
---|
| 398 | }
|
---|
| 399 |
|
---|
| 400 | void V4LCamera::SetBrightness(float value) {
|
---|
| 401 | SetProperty(V4L2_CID_BRIGHTNESS, value);
|
---|
| 402 | }
|
---|
| 403 |
|
---|
| 404 | void V4LCamera::SetSaturation(float value) {
|
---|
| 405 | SetProperty(V4L2_CID_SATURATION, value);
|
---|
| 406 | }
|
---|
| 407 |
|
---|
| 408 | void V4LCamera::SetHue(float value) {
|
---|
| 409 | SetProperty(V4L2_CID_HUE, value);
|
---|
| 410 | }
|
---|
| 411 |
|
---|
| 412 | void V4LCamera::SetContrast(float value) {
|
---|
| 413 | SetProperty(V4L2_CID_CONTRAST, value);
|
---|
| 414 | }
|
---|
| 415 |
|
---|
| 416 | float V4LCamera::GetProperty(int property) {
|
---|
| 417 | //get min and max value
|
---|
| 418 | struct v4l2_queryctrl queryctrl;
|
---|
| 419 | queryctrl.id = property;
|
---|
| 420 | if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) return -1;
|
---|
| 421 | int min = queryctrl.minimum;
|
---|
| 422 | int max = queryctrl.maximum;
|
---|
| 423 |
|
---|
| 424 | //set value
|
---|
| 425 | struct v4l2_control control;
|
---|
| 426 | memset (&control, 0, sizeof (v4l2_control));
|
---|
| 427 | control.id = property;
|
---|
| 428 | if(xioctl (device,VIDIOC_G_CTRL, &control)==-1) return -1;
|
---|
| 429 |
|
---|
| 430 | return ((float)control.value - min + 1) / (max - min);
|
---|
| 431 | }
|
---|
| 432 |
|
---|
| 433 | void V4LCamera::SetProperty(int property,float value) {
|
---|
| 434 | //get min and max value
|
---|
| 435 | struct v4l2_queryctrl queryctrl;
|
---|
| 436 | queryctrl.id = property;
|
---|
| 437 | xioctl (device, VIDIOC_QUERYCTRL,&queryctrl);
|
---|
| 438 | int min = queryctrl.minimum;
|
---|
| 439 | int max = queryctrl.maximum;
|
---|
| 440 |
|
---|
| 441 | //set value
|
---|
| 442 | struct v4l2_control control;
|
---|
| 443 | memset (&control, 0, sizeof (v4l2_control));
|
---|
| 444 | control.id = property;
|
---|
| 445 | control.value = (int)(value * (max - min) + min);
|
---|
| 446 | xioctl (device,VIDIOC_S_CTRL, &control);
|
---|
| 447 | }
|
---|
| 448 |
|
---|
| 449 | int V4LCamera::xioctl( int fd, int request, void *arg) {
|
---|
| 450 | int r;
|
---|
| 451 |
|
---|
| 452 | do r = ioctl (fd, request, arg);
|
---|
| 453 | while (-1 == r && EINTR == errno);
|
---|
| 454 |
|
---|
| 455 | return r;
|
---|
| 456 | }
|
---|
| 457 |
|
---|
| 458 | } // end namespace sensor
|
---|
| 459 | } // end namespace flair
|
---|