Changeset 330 in flair-src for trunk/lib/FlairSensorActuator/src/V4LCamera.cpp

Timestamp:

09/25/19 15:29:26 (5 years ago)

Author:

Sanahuja Guillaume

Message:

use less bandwidth in vprnlite

File:

• trunk/lib/FlairSensorActuator/src/V4LCamera.cpp (modified) (10 diffs)

trunk/lib/FlairSensorActuator/src/V4LCamera.cpp

@@ -23 +23 @@
 #include <cvimage.h>
 #include <FrameworkManager.h>
+#include <fcntl.h>
 #include <linux/videodev2.h>
+
+#include <sys/ioctl.h>
+#include <unistd.h>
+#include <cstring>
+#include <sys/mman.h>
+
+
+#define DEFAULT_V4L_BUFFERS 4
 
 using std::string;
@@ -37 +46 @@
     : Thread(getFrameworkManager(), name, priority),
       Camera(name, width, height, format) {
-  capture = cvCaptureFromCAM(camera_index);
-  if (capture < 0)
-    Thread::Err("cvCaptureFromCAM error\n");
-
-  if (cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH, width)<0)
-    Thread::Err("cvSetCaptureProperty error\n");
-  if (cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT, height)<0)
-    Thread::Err("cvSetCaptureProperty error\n");
-
+  
+  string deviceName="/dev/video"+std::to_string(camera_index);
+  device = open(deviceName.c_str(), O_RDWR | O_NONBLOCK);
+  if (device == -1) {
+     Thread::Err("Cannot open %s\n");
+  }
+    
+  //get v4l2_format
+  struct v4l2_format form;
+  form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+  xioctl (device, VIDIOC_G_FMT,&form);
+  
+  //set width, height and format
   if (format == cvimage::Type::Format::UYVY) {
-    if (cvSetCaptureProperty(capture, CV_CAP_PROP_FORMAT, V4L2_PIX_FMT_UYVY)<0)
-      Thread::Err("cvSetCaptureProperty error\n");
+    form.fmt.pix.pixelformat = V4L2_PIX_FMT_UYVY; 
   } else if (format == cvimage::Type::Format::YUYV) {
-    if (cvSetCaptureProperty(capture, CV_CAP_PROP_FORMAT, V4L2_PIX_FMT_YUYV) <
-        0)
-      Thread::Err("cvSetCaptureProperty error\n");
+    form.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV; 
   } else {
     Thread::Err("format not supported\n");
   }
-
+  
+  form.fmt.pix.width = width; 
+  form.fmt.pix.height = height;
+  form.fmt.win.chromakey = 0;
+  form.fmt.win.field = V4L2_FIELD_ANY;
+  form.fmt.win.clips = 0;
+  form.fmt.win.clipcount = 0;
+  form.fmt.pix.field = V4L2_FIELD_ANY;
+  xioctl (device, VIDIOC_S_FMT, &form);
+  
+  /* This is just a technicality, but all buffers must be filled up before any
+   staggered SYNC is applied.  SO, filler up. (see V4L HowTo) */
+
+  AllocBuffers();
+
+  for (int bufferIndex = 0; bufferIndex < ((int)requestbuffers.count);++bufferIndex) {
+    struct v4l2_buffer buf;
+
+    memset(&buf, 0, sizeof (v4l2_buffer));
+
+    buf.type        = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+    buf.memory      = V4L2_MEMORY_MMAP;
+    buf.index       = (unsigned long)bufferIndex;
+
+    if (-1 == xioctl (device, VIDIOC_QBUF, &buf)) {
+        Thread::Err("VIDIOC_QBUF xioctl\n");
+        break;
+    }
+  }
+
+  // enable the streaming
+  v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+  if (-1 == xioctl (device, VIDIOC_STREAMON,&type)) {
+      Thread::Err("VIDIOC_STREAMON xioctl\n");
+  }
+
+
+  // skip first frame. it is often bad -- this is unnotied in traditional apps,
+  //  but could be fatal if bad jpeg is enabled
+  GrabFrame();
+    
+    
+    
   // station sol
   gain = new DoubleSpinBox(GetGroupBox()->NewRow(), "gain:", 0, 1, 0.1);
@@ -85 +137 @@
 void V4LCamera::Run(void) {
   Time cam_time, new_time, fpsNow, fpsPrev;
-  IplImage *img; // raw image
+  char* buffer; // raw image
   int fpsCounter = 0;
 
   // init image old
-  if (!cvGrabFrame(capture)) {
-    Printf("Could not grab a frame\n");
-  }
+  GrabFrame();
   cam_time = GetTime();
   fpsPrev = cam_time;
@@ -97 +147 @@
   while (!ToBeStopped()) {
     //check for ps3eye deconnection in hds uav
-    if(cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH)<0) {
-      Thread::Warn("camera disconnected\n");
-      hasProblems=true;
+    if(hasProblems==false) {
+      struct v4l2_format form;
+      form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+      xioctl(device, VIDIOC_G_FMT,&form);
+      if(xioctl (device, VIDIOC_G_FMT,&form)<0) {
+        Thread::Warn("camera disconnected\n");
+        hasProblems=true;
+      }
     }
     
@@ -127 +182 @@
       SetHue(hue->Value());
     if (sharpness->ValueChanged() == true)
-      cvSetCaptureProperty(capture, CV_CAP_PROP_SHARPNESS, sharpness->Value());
+      SetProperty(V4L2_CID_SHARPNESS, sharpness->Value());
     if (autogain->ValueChanged() == true) {
       if (autogain->Value() == true) {
@@ -147 +202 @@
     }
     if (awb->ValueChanged() == true)
-      cvSetCaptureProperty(capture, CV_CAP_PROP_AWB, awb->Value());
+      SetProperty(V4L2_CID_AUTO_WHITE_BALANCE, awb->Value());
 
     // cam pictures
-    img = cvRetrieveRawFrame(capture);
-    if (!cvGrabFrame(capture)) {
-      Printf("Could not grab a frame\n");
-    }
+    buffer = RetrieveRawFrame();
+    GrabFrame();
     new_time = GetTime();
     
@@ -163 +216 @@
 
     output->GetMutex();
-    output->img->imageData = img->imageData;
+    output->buffer = buffer;
     output->ReleaseMutex();
 
@@ -172 +225 @@
   }
 
-  cvReleaseCapture(&capture);
+  close(device);
+}
+
+void V4LCamera::GrabFrame(void) {
+    unsigned int count;
+
+    count = 1;
+
+    while (count-- > 0) {
+        for (;;) {
+            fd_set fds;
+            struct timeval tv;
+            int r;
+
+            FD_ZERO (&fds);
+            FD_SET (device, &fds);
+
+            /* Timeout. */
+            tv.tv_sec = 2;
+            tv.tv_usec = 0;
+
+            r = select (device+1, &fds, NULL, NULL, &tv);
+
+            if (-1 == r) {
+                if (EINTR == errno) continue;
+                Thread::Err("select\n");
+            }
+
+            if (0 == r) {
+                Thread::Err("select timeout\n");
+                /* end the infinite loop */
+                break;
+            }
+
+            if (read_frame_v4l2 ()) break;
+        }
+    }
+}
+
+int V4LCamera::read_frame_v4l2(void) {
+  struct v4l2_buffer buf;
+  memset(&buf, 0, sizeof (v4l2_buffer));
+  
+
+    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+    buf.memory = V4L2_MEMORY_MMAP;
+
+    if (-1 == xioctl (device, VIDIOC_DQBUF, &buf)) {
+        switch (errno) {
+        case EAGAIN:
+            return 0;
+
+        case EIO:
+            /* Could ignore EIO, see spec. */
+
+            /* fall through */
+
+        default:
+            /* display the error and stop processing */
+            Thread::Err("VIDIOC_DQBUF xioctl\n");
+            return 1;
+        }
+   }
+
+   if(buf.index >= requestbuffers.count) {
+     Thread::Err("buf.index >= requestbuffers.count\n");
+   }
+   
+#ifdef USE_TEMP_BUFFER
+   memcpy(capture->buffers[MAX_V4L_BUFFERS].start, 
+          capture->buffers[buf.index].start, 
+          capture->buffers[MAX_V4L_BUFFERS].length );
+   capture->bufferIndex = MAX_V4L_BUFFERS;
+   //printf("got data in buff %d, len=%d, flags=0x%X, seq=%d, used=%d)\n", 
+   //     buf.index, buf.length, buf.flags, buf.sequence, buf.bytesused);
+#else
+   bufferIndex = buf.index;
+#endif
+
+   if (-1 == xioctl (device, VIDIOC_QBUF, &buf)) {
+       Thread::Err ("VIDIOC_QBUF xioctl\n");
+   }
+
+   return 1;
+}
+
+int V4LCamera::AllocBuffers(void) {
+   memset(&requestbuffers, 0, sizeof (v4l2_requestbuffers));
+   
+   unsigned int buffer_number = DEFAULT_V4L_BUFFERS;
+
+   try_again:
+   
+   requestbuffers.count = buffer_number;
+   requestbuffers.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+   requestbuffers.memory = V4L2_MEMORY_MMAP;
+
+   if (-1 == xioctl (device, VIDIOC_REQBUFS, &requestbuffers)) {
+       if (EINVAL == errno) {
+         Thread::Err("not support memory mapping not supportted\n");
+       } else {
+         Thread::Err ("VIDIOC_REQBUFS xioctl\n");
+       }
+       return -1;
+   }
+
+   if (requestbuffers.count < buffer_number) {
+       if (buffer_number == 1) {
+        Thread::Err("Insufficient buffer memory\n");
+        return -1;
+       } else {
+        buffer_number--;
+        Thread::Warn ("Insufficient buffer memory, decreasing buffers\n");
+        goto try_again;
+       }
+   }
+
+   for (int n_buffers = 0; n_buffers < requestbuffers.count; ++n_buffers) {
+       struct v4l2_buffer buf;
+
+       memset(&buf, 0, sizeof (v4l2_buffer));
+
+       buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+       buf.memory = V4L2_MEMORY_MMAP;
+       buf.index = n_buffers;
+
+       if (-1 == xioctl (device, VIDIOC_QUERYBUF, &buf)) {
+           Thread::Err("VIDIOC_QUERYBUF xioctl\n");
+           return -1;
+       }
+
+       buffers[n_buffers].length = buf.length;
+       buffers[n_buffers].start =
+         mmap (NULL /* start anywhere */,
+               buf.length,
+               PROT_READ | PROT_WRITE /* required */,
+               MAP_SHARED /* recommended */,
+               device, buf.m.offset);
+
+       if (MAP_FAILED == buffers[n_buffers].start) {
+           Thread::Err("mmap\n");
+           return -1;
+       }
+   }
+
+  //todo: verifier cette alloc, pas de double buffeinrg?
+  //peut on initialiser l'image dans le constrcteur de la camera?
+   
+   output->buffer=output->allocFunction(output->dataType.GetSize());
+   return 1;
+};
+
+char *V4LCamera::RetrieveRawFrame(void) {
+  
+  /* [FD] this really belongs here */
+  if (ioctl(device, VIDIOCSYNC, &mmaps[bufferIndex].frame) == -1) {
+    Thread::Err("Could not SYNC to video stream. %s\n", strerror(errno));
+  }
+
+  /* Now get what has already been captured as a IplImage return */
+  if (output->dataType.GetFormat() == cvimage::Type::Format::YUYV || output->dataType.GetFormat() == cvimage::Type::Format::UYVY) {
+    #ifdef USE_TEMP_BUFFER
+    capture->frame.imageData=(char*)capture->buffers[capture->bufferIndex].start;
+    #else
+Printf("frame is not allocated\n");
+    memcpy((char *)frame,(char *)buffers[bufferIndex].start,output->GetDataType().GetSize());
+    #endif
+  } else {
+    Thread::Err("palette %d not supported for raw output\n",output->dataType.GetFormat());
+  }
+
+  return(frame);
 }
 
@@ -180 +404 @@
 
 void V4LCamera::SetAutoGain(bool value) {
-  cvSetCaptureProperty(capture, CV_CAP_PROP_AUTOGAIN, value);
+  SetProperty(V4L2_CID_AUTOGAIN, value);
 }
 
@@ -188 +412 @@
 
 void V4LCamera::SetGain(float value) {
-  cvSetCaptureProperty(capture, CV_CAP_PROP_GAIN, value);
+  SetProperty(V4L2_CID_GAIN, value);
 }
 
 void V4LCamera::SetExposure(float value) {
-  cvSetCaptureProperty(capture, CV_CAP_PROP_EXPOSURE, value);
+  SetProperty(V4L2_CID_EXPOSURE, value);
 }
 
 void V4LCamera::SetBrightness(float value) {
-  cvSetCaptureProperty(capture, CV_CAP_PROP_BRIGHTNESS, value);
+  SetProperty(V4L2_CID_BRIGHTNESS, value);
 }
 
 void V4LCamera::SetSaturation(float value) {
-  cvSetCaptureProperty(capture, CV_CAP_PROP_SATURATION, value);
+  SetProperty(V4L2_CID_SATURATION, value);
 }
 
 void V4LCamera::SetHue(float value) {
-  cvSetCaptureProperty(capture, CV_CAP_PROP_HUE, value);
+  SetProperty(V4L2_CID_HUE, value);
 }
 
 void V4LCamera::SetContrast(float value) {
-  cvSetCaptureProperty(capture, CV_CAP_PROP_CONTRAST, value);
+  SetProperty(V4L2_CID_CONTRAST, value);
+}
+
+float V4LCamera::GetProperty(int property) {
+  //get min and max value
+  struct v4l2_queryctrl queryctrl;
+  queryctrl.id = property;
+  if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) return -1;
+  int min = queryctrl.minimum;
+  int max = queryctrl.maximum;
+ 
+  //set value
+  struct v4l2_control control;
+  memset (&control, 0, sizeof (v4l2_control));
+  control.id = property;
+  if(xioctl (device,VIDIOC_G_CTRL, &control)==-1) return -1;
+  
+  return ((float)control.value - min + 1) / (max - min);
+}
+
+void V4LCamera::SetProperty(int property,float value) {
+  //get min and max value
+  struct v4l2_queryctrl queryctrl;
+  queryctrl.id = property;
+  xioctl (device, VIDIOC_QUERYCTRL,&queryctrl);
+  int min = queryctrl.minimum;
+  int max = queryctrl.maximum;
+ 
+  //set value
+  struct v4l2_control control;
+  memset (&control, 0, sizeof (v4l2_control));
+  control.id = property;
+  control.value = (int)(value * (max - min) + min);
+  xioctl (device,VIDIOC_S_CTRL, &control);
+}
+
+int V4LCamera::xioctl( int fd, int request, void *arg) {
+  int r;
+
+  do r = ioctl (fd, request, arg);
+  while (-1 == r && EINTR == errno);
+
+  return r;
 }