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 | #include <VisionFilter.h>
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32 |
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33 | using std::string;
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34 | using namespace flair::core;
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35 | using namespace flair::gui;
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36 |
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37 | namespace flair {
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38 | namespace sensor {
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39 |
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40 | V4LCamera::V4LCamera(string name,uint8_t camera_index, uint16_t width, uint16_t height,
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41 | Image::Type::Format format, uint8_t priority)
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42 | : Thread(getFrameworkManager(), name, priority),
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43 | Camera(name, width, height, format) {
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44 |
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45 | string deviceName="/dev/video"+std::to_string(camera_index);
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46 | device = open(deviceName.c_str(), O_RDWR | O_NONBLOCK);
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47 | if (device == -1) {
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48 | Thread::Err("Cannot open %s\n",deviceName.c_str());
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49 | } else {
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50 | Printf("V4LCamera %s, opened %s\n",name.c_str(),deviceName.c_str());
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51 | }
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52 |
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53 | if(format == Image::Type::Format::UYVY) {
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54 | if(Init(width,height,V4L2_PIX_FMT_UYVY) == -1) {
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55 | Thread::Err("initialisation failed\n");
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56 | }
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57 | } else if (format == Image::Type::Format::YUYV) {
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58 | if(Init(width,height,V4L2_PIX_FMT_YUYV) == -1) {
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59 | Thread::Err("initialisation failed\n");
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60 | }
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61 | } else {
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62 | Thread::Err("format not supported\n");
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63 | }
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64 |
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65 | //todo: better handling of detection, only neeeded for omap/dm
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66 | //also in run, copy from v4l to cmem is not necessary if not using cmem...
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67 | #ifdef ARMV7A
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68 | useMemoryUsrPtr=true;
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69 | #else
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70 | useMemoryUsrPtr=false;
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71 | #endif
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72 | if(useMemoryUsrPtr) {
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73 | AllocUserBuffers();
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74 | } else {
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75 | AllocV4LBuffers();
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76 | }
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77 |
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78 | for (int i=0;i < nbBuffers;i++) {
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79 | QueueBuffer(i);
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80 | }
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81 |
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82 | /* enable the streaming */
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83 | v4l2_buf_type type;
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84 | type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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85 | if (-1 == xioctl (device, VIDIOC_STREAMON,&type)) {
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86 | Thread::Err("VIDIOC_STREAMON error\n");
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87 | }
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88 |
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89 | // ground station
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90 | gain = new DoubleSpinBox(GetGroupBox()->NewRow(), "gain:", 0, 1, 0.1);
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91 | exposure = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "exposure:", 0,1, 0.1);
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92 | bright = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "bright:", 0, 1, 0.1);
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93 | contrast = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "contrast:", 0,1, 0.1);
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94 | hue = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "hue:", 0, 1, 0.1);
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95 | sharpness = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "sharpness:", 0, 1, 0.1);
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96 | sat = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "saturation:", 0, 1,0.1);
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97 | autogain = new CheckBox(GetGroupBox()->NewRow(), "autogain:");
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98 | autoexposure = new CheckBox(GetGroupBox()->LastRowLastCol(), "autoexposure:");
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99 | awb = new CheckBox(GetGroupBox()->LastRowLastCol(), "awb:");
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100 | fps = new Label(GetGroupBox()->NewRow(), "fps");
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101 |
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102 | hasProblems=false;
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103 | }
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104 |
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105 | V4LCamera::~V4LCamera() {
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106 | if(useMemoryUsrPtr) {
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107 | for (int i = 0; i < nbBuffers; i++) {
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108 | FreeFunction((char*)buffers[i]);
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109 | }
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110 | } else {
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111 | FreeFunction(imageData);
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112 | }
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113 | SafeStop();
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114 | Join();
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115 | close(device);
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116 | }
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117 |
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118 | int V4LCamera::Init(int width, int height,unsigned long colorspace) {
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119 | struct v4l2_capability cap;
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120 | memset(&cap, 0, sizeof (v4l2_capability));
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121 |
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122 | if(-1 == xioctl(device, VIDIOC_QUERYCAP, &cap)) {
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123 | return -1;
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124 | }
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125 |
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126 | if ((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
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127 | Thread::Err("device is unable to capture video memory.\n");
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128 | return -1;
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129 | }
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130 |
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131 | struct v4l2_format form;
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132 | memset(&form, 0, sizeof (v4l2_format));
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133 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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134 |
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135 | /* read the current setting */
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136 | if(-1 == xioctl(device, VIDIOC_G_FMT, &form)) {
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137 | Thread::Err("Could not obtain specifics of capture window.\n");
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138 | return -1;
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139 | }
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140 |
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141 | /* set the values we want to change */
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142 | form.fmt.pix.width = width;
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143 | form.fmt.pix.height = height;
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144 | form.fmt.win.chromakey = 0;
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145 | form.fmt.win.field = V4L2_FIELD_ANY;
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146 | form.fmt.win.clips = 0;
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147 | form.fmt.win.clipcount = 0;
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148 | form.fmt.pix.field = V4L2_FIELD_ANY;
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149 | form.fmt.pix.pixelformat = colorspace;
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150 |
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151 | /* ask the device to change the size*/
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152 | if(-1 == xioctl (device, VIDIOC_S_FMT, &form)) {
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153 | Thread::Err("Could not set specifics of capture window.\n");
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154 | return -1;
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155 | }
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156 |
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157 | return 0;
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158 | }
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159 |
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160 | int V4LCamera::AllocV4LBuffers() {
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161 | struct v4l2_requestbuffers req;
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162 | memset(&req, 0, sizeof (v4l2_requestbuffers));
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163 | nbBuffers=DEFAULT_V4L_BUFFERS;
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164 |
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165 | try_again:
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166 |
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167 | req.count = nbBuffers;
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168 | req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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169 | req.memory = V4L2_MEMORY_MMAP;
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170 |
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171 | if(-1 == xioctl(device, VIDIOC_REQBUFS, &req)) {
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172 | if (EINVAL == errno) {
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173 | Thread::Err("camera does not support memory mapping\n");
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174 | } else {
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175 | Thread::Err("VIDIOC_REQBUFS failed\n");
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176 | }
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177 | return -1;
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178 | }
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179 |
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180 | if(req.count < nbBuffers) {
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181 | if (nbBuffers == 1) {
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182 | Thread::Err("Insufficient buffer memory\n");
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183 | return -1;
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184 | } else {
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185 | nbBuffers--;
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186 | Thread::Warn("Insufficient buffer memory -- decreaseing buffers to %i\n",nbBuffers);
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187 | goto try_again;
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188 | }
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189 | }
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190 |
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191 | for(int i=0; i<req.count; i++) {
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192 | struct v4l2_buffer buf;
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193 | memset(&buf, 0, sizeof (v4l2_buffer));
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194 |
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195 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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196 | buf.memory = V4L2_MEMORY_MMAP;
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197 | buf.index = i;
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198 |
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199 | if(-1 == xioctl(device, VIDIOC_QUERYBUF, &buf)) {
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200 | Thread::Err("VIDIOC_QUERYBUF error\n");
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201 | return -1;
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202 | }
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203 |
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204 | if(output->GetDataType().GetSize()!=buf.length) {
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205 | Thread::Err("buf size is not as exepcted %i/%i\n",buf.length,output->GetDataType().GetSize());
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206 | return -1;
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207 | }
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208 |
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209 | buffers[i]=mmap(NULL,buf.length,PROT_READ | PROT_WRITE,MAP_SHARED,device, buf.m.offset);
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210 |
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211 | if(MAP_FAILED == buffers[i]) {
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212 | Thread::Err("mmap error\n");
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213 | return -1;
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214 | }
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215 | }
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216 |
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217 | //allocate output data
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218 | imageData = AllocFunction(output->GetDataType().GetSize());
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219 | //Printf("cmem allocated %i at %x\n",output->GetDataType().GetSize(),imageData);
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220 |
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221 | return 1;
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222 | };
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223 |
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224 | int V4LCamera::AllocUserBuffers(void) {
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225 | struct v4l2_requestbuffers req;
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226 | memset(&req, 0, sizeof (v4l2_requestbuffers));
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227 | nbBuffers=DEFAULT_V4L_BUFFERS;
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228 |
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229 | req.count = nbBuffers;
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230 | req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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231 | req.memory = V4L2_MEMORY_USERPTR;
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232 |
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233 | if (xioctl (device, VIDIOC_REQBUFS, &req)==-1) {
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234 | if (errno==EINVAL) {
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235 | Thread::Err("VIDIOC_REQBUFS user memory not supported\n");
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236 | } else {
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237 | Thread::Err ("VIDIOC_REQBUFS xioctl\n");
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238 | }
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239 | return -1;
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240 | }
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241 |
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242 | for (int i=0; i<nbBuffers; i++) {
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243 | buffers[i] =AllocFunction(output->GetDataType().GetSize());
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244 | }
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245 |
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246 | return 1;
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247 | };
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248 |
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249 | int V4LCamera::GrabFrame(void) {
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250 | fd_set fds;
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251 | struct timeval tv;
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252 | FD_ZERO (&fds);
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253 | FD_SET (device, &fds);
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254 |
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255 | tv.tv_sec = 0;
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256 | tv.tv_usec = 100000;
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257 |
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258 | int r=select(device+1, &fds, NULL, NULL, &tv);
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259 |
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260 | if (r==-1) {
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261 | char errorMsg[256];
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262 | Thread::Err("select (%s)\n", strerror_r(-r, errorMsg, sizeof(errorMsg)));
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263 | return -1;
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264 | }
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265 |
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266 | if (r==0) {
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267 | Thread::Err("select timeout\n");
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268 | return -1;
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269 | }
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270 |
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271 | struct v4l2_buffer buf;
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272 | memset(&buf, 0, sizeof (v4l2_buffer));
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273 | buf.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
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274 | if(useMemoryUsrPtr) {
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275 | buf.memory=V4L2_MEMORY_USERPTR;
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276 | } else {
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277 | buf.memory=V4L2_MEMORY_MMAP;
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278 | }
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279 |
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280 | //get last captured buffer
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281 | dQueuedBuffer.index=-1;
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282 | for(int i=0;i<nbBuffers;i++) {
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283 | if (xioctl (device, VIDIOC_DQBUF, &buf)==-1) {
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284 | if (errno==EAGAIN) {//when no new buffer is available for reading (non blocking)
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285 | //Printf("%s eagain\n",Thread::ObjectName().c_str());
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286 | break;
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287 | } else {
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288 | Thread::Err("VIDIOC_DQBUF xioctl\n");
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289 | return -1;
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290 | }
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291 | } else {
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292 | //Printf("%s %i dqueued\n",Thread::ObjectName().c_str(),buf.index);
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293 | //Printf("%i %x %i %i\n",buf.bytesused,buf.flags,buf.field,buf.sequence);
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294 | if(dQueuedBuffer.index!=-1) {
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295 | //Printf("%s %i queued\n",Thread::ObjectName().c_str(),dQueuedBuffer.index);
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296 | QueueBuffer(&dQueuedBuffer);
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297 | }
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298 | dQueuedBuffer=buf;
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299 | }
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300 | }
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301 | //Printf("%s %i\n",Thread::ObjectName().c_str(),dQueuedBuffer.index);
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302 |
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303 | return 1;
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304 | }
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305 |
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306 | void V4LCamera::Run(void) {
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307 | Time cam_time, new_time, fpsNow, fpsPrev;
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308 | int fpsCounter = 0;
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309 |
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310 | cam_time = GetTime();
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311 | fpsPrev = cam_time;
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312 |
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313 | while (!ToBeStopped()) {
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314 | // fps counter
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315 | fpsCounter++;
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316 | if (fpsCounter == 100) {
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317 | fpsNow = GetTime();
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318 | fps->SetText("fps: %.1f",
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319 | fpsCounter / ((float)(fpsNow - fpsPrev) / 1000000000.));
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320 | fpsCounter = 0;
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321 | fpsPrev = fpsNow;
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322 | }
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323 |
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324 | // cam properties
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325 | if (gain->ValueChanged() == true && autogain->Value() == false)
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326 | SetGain(gain->Value());
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327 | if (exposure->ValueChanged() == true && autoexposure->Value() == false)
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328 | SetExposure(exposure->Value());
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329 | if (bright->ValueChanged() == true)
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330 | SetBrightness(bright->Value());
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331 | if (sat->ValueChanged() == true)
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332 | SetSaturation(sat->Value());
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333 | if (contrast->ValueChanged() == true)
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334 | SetContrast(contrast->Value());
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335 | if (hue->ValueChanged() == true)
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336 | SetHue(hue->Value());
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337 | //if (sharpness->ValueChanged() == true)
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338 | // cvSetCaptureProperty(capture, CV_CAP_PROP_SHARPNESS, sharpness->Value());
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339 | if (autogain->ValueChanged() == true) {
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340 | if (autogain->Value() == true) {
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341 | gain->setEnabled(false);
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342 | } else {
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343 | gain->setEnabled(true);
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344 | SetGain(gain->Value());
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345 | }
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346 | SetAutoGain(autogain->Value());
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347 | }
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348 | if (autoexposure->ValueChanged() == true) {
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349 | if (autoexposure->Value() == true) {
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350 | exposure->setEnabled(false);
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351 | } else {
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352 | exposure->setEnabled(true);
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353 | SetExposure(exposure->Value());
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354 | }
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355 | SetAutoExposure(autoexposure->Value());
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356 | }
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357 | //if (awb->ValueChanged() == true)
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358 | // cvSetCaptureProperty(capture, CV_CAP_PROP_AWB, awb->Value());
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359 |
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360 | // cam pictures
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361 | if (!GrabFrame()) {
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362 | Printf("Could not grab a frame\n");
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363 | }
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364 |
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365 | //check for ps3eye deconnection in hds uav
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366 | new_time = GetTime();
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367 | if(new_time-cam_time>100*1000*1000) {
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368 | Thread::Warn("delta t trop grand\n");
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369 | hasProblems=true;
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370 | }/*
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371 | if(hasProblems==false) {
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372 | struct v4l2_format form;
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373 | form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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374 | xioctl(device, VIDIOC_G_FMT,&form);
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375 | if(xioctl (device, VIDIOC_G_FMT,&form)<0) {
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376 | Thread::Warn("camera disconnected\n");
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377 | hasProblems=true;
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378 | }
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379 | }*/
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380 |
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381 | //select buffer
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382 | if(useMemoryUsrPtr) {//buffers are already in CMEM
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383 | imageData=(char*)buffers[dQueuedBuffer.index];
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384 | //dequeue it latter (buffer used by ProcessUpdate)
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385 | } else {//copy to CMEM allocated buffer
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386 | memcpy(imageData,(char *)buffers[dQueuedBuffer.index],output->GetDataType().GetSize());
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387 | QueueBuffer(&dQueuedBuffer);//we can do it right now
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388 | }
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389 |
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390 | output->GetMutex();
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391 | output->buffer=imageData;
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392 | output->ReleaseMutex();
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393 |
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394 | output->SetDataTime(cam_time);
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395 | ProcessUpdate(output);
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396 | cam_time = new_time;
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397 |
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398 | if(useMemoryUsrPtr) {
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399 | QueueBuffer(&dQueuedBuffer);//now it is possible to dequeue
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400 | }
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401 | }
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402 | }
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403 |
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404 | int V4LCamera::QueueBuffer(struct v4l2_buffer *buf) {
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405 | if(buf->index>=0 && buf->index<nbBuffers) {
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406 | int ret=xioctl (device, VIDIOC_QBUF,buf);
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407 | if (ret==-1) {
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408 | Thread::Err("VIDIOC_QBUF xioctl %s\n",strerror(-ret));
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409 | return -1;
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410 | }
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411 | }
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412 | return 0;
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413 | }
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414 |
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415 | int V4LCamera::QueueBuffer(int index) {
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416 | struct v4l2_buffer buf;
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417 | memset(&buf, 0, sizeof (v4l2_buffer));
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418 |
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419 | buf.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
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420 | buf.index=(unsigned long)index;
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421 | if(useMemoryUsrPtr) {
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422 | buf.memory=V4L2_MEMORY_USERPTR;
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423 | buf.m.userptr=(unsigned long)(buffers[index]);
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424 | buf.length=output->GetDataType().GetSize();
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425 | } else {
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426 | buf.memory=V4L2_MEMORY_MMAP;
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427 | }
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428 | return QueueBuffer(&buf);
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429 | }
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430 |
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431 | bool V4LCamera::HasProblems(void) {
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432 | return hasProblems;
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433 | }
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434 |
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435 | void V4LCamera::SetAutoGain(bool value) {
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436 | SetProperty(V4L2_CID_AUTOGAIN, value);
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437 | }
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438 |
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439 | void V4LCamera::SetAutoExposure(bool value) {
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440 | Thread::Warn("not implemented\n");
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441 | }
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442 |
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443 | void V4LCamera::SetGain(float value) {
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444 | SetProperty(V4L2_CID_GAIN, value);
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445 | }
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446 |
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447 | void V4LCamera::SetExposure(float value) {
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448 | SetProperty(V4L2_CID_EXPOSURE, value);
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449 | }
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450 |
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451 | void V4LCamera::SetBrightness(float value) {
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452 | SetProperty(V4L2_CID_BRIGHTNESS, value);
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453 | }
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454 |
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455 | void V4LCamera::SetSaturation(float value) {
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456 | SetProperty(V4L2_CID_SATURATION, value);
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457 | }
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458 |
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459 | void V4LCamera::SetHue(float value) {
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460 | SetProperty(V4L2_CID_HUE, value);
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461 | }
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462 |
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463 | void V4LCamera::SetContrast(float value) {
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464 | SetProperty(V4L2_CID_CONTRAST, value);
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465 | }
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466 |
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467 | float V4LCamera::GetProperty(int property) {
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468 | //get min and max value
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469 | struct v4l2_queryctrl queryctrl;
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470 | queryctrl.id = property;
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471 | if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) return -1;
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472 | int min = queryctrl.minimum;
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473 | int max = queryctrl.maximum;
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474 |
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475 | //set value
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476 | struct v4l2_control control;
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477 | memset (&control, 0, sizeof (v4l2_control));
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478 | control.id = property;
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479 | if(xioctl (device,VIDIOC_G_CTRL, &control)==-1) return -1;
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480 |
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481 | return ((float)control.value - min + 1) / (max - min);
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482 | }
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483 |
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484 | void V4LCamera::SetProperty(int property,float value) {
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485 | //get min and max value
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486 | struct v4l2_queryctrl queryctrl;
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487 | queryctrl.id = property;
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488 | if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) {
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489 | Thread::Warn("prop %x, VIDIOC_QUERYCTRL failed\n",property);
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490 | }
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491 | int min = queryctrl.minimum;
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492 | int max = queryctrl.maximum;
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493 |
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494 | //set value
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495 | struct v4l2_control control;
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496 | memset (&control, 0, sizeof (v4l2_control));
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497 | control.id = property;
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498 | control.value = (int)(value * (max - min) + min);
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499 | if(xioctl (device,VIDIOC_S_CTRL, &control)==-1) {
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500 | Thread::Warn("prop %x, VIDIOC_S_CTRL failed\n",property);
|
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501 | }
|
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502 | }
|
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503 |
|
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504 | int V4LCamera::xioctl( int fd, int request, void *arg) {
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505 | int r;
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506 |
|
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507 | do r = ioctl (fd, request, arg);
|
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508 | while (-1 == r && EINTR == errno);
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509 |
|
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510 | return r;
|
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511 | }
|
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512 |
|
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513 | } // end namespace sensor
|
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514 | } // end namespace flair
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