Changeset 349 in flair-src

Timestamp:

02/19/20 10:18:36 (4 years ago)

Author:

Sanahuja Guillaume

Message:

modifs v4l2

Location:

trunk/lib/FlairSensorActuator/src

Files:

• V4LCamera.cpp (modified) (6 diffs)
• V4LCamera.h (modified) (3 diffs)

trunk/lib/FlairSensorActuator/src/V4LCamera.cpp

@@ -31 +31 @@
 #include <VisionFilter.h>
 
-#define DEFAULT_V4L_BUFFERS 4
-
 using std::string;
 using namespace flair::core;
@@ -65 +63 @@
   }
   
-  /* 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();
@@ -151 +147 @@
   if(-1 == xioctl (device, VIDIOC_S_FMT, &form)) {
     Thread::Err("Could not set specifics of capture window.\n");
-    return -1;
-  }
-
-  /* Get window info again, to get the real value */
-  if(-1 == xioctl (device, VIDIOC_G_FMT, &form)) {
-    Thread::Err("Could not obtain specifics of capture window.\n");
     return -1;
   }
@@ -320 +310 @@
 
 int V4LCamera::AllocBuffers(void) {
-  struct v4l2_requestbuffers requestbuffers;
-  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_USERPTR;
-
-  if (xioctl (device, VIDIOC_REQBUFS, &requestbuffers)==-1) {
+  struct v4l2_requestbuffers req;
+  memset(&req, 0, sizeof (v4l2_requestbuffers));
+  nbBuffers=DEFAULT_V4L_BUFFERS;
+
+  req.count = nbBuffers;
+  req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+  req.memory = V4L2_MEMORY_USERPTR;
+
+  if (xioctl (device, VIDIOC_REQBUFS, &req)==-1) {
     if (errno==EINVAL) {
       Thread::Err("VIDIOC_REQBUFS user memory not supported\n");
@@ -340 +327 @@
   }
 
-  nbBuffers=DEFAULT_V4L_BUFFERS;
   for (int i=0; i<nbBuffers; i++) {
     buffers[i] =AllocFunction(output->GetDataType().GetSize());
@@ -517 +503 @@
         memset(&buf, 0, sizeof (v4l2_buffer));
         buf.type        = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-        buf.memory      = V4L2_MEMORY_USERPTR;//V4L2_MEMORY_MMAP;
+        buf.memory      = V4L2_MEMORY_USERPTR;
         buf.index       = (unsigned long)index;
         buf.m.userptr=(unsigned long)(buffers[index]);

trunk/lib/FlairSensorActuator/src/V4LCamera.h

@@ -19 +19 @@
 #include <linux/videodev2.h>
 #include <libv4l1-videodev.h>
-#define MAX_V4L_BUFFERS 10
+
+#define DEFAULT_V4L_BUFFERS 4
 
 namespace flair {
@@ -149 +150 @@
   int device;
   bool hasProblems;
-  struct video_mmap *mmaps;
-  void* buffers[MAX_V4L_BUFFERS];
+  void* buffers[DEFAULT_V4L_BUFFERS];
   int nbBuffers;
   int bufferIndex;
@@ -166 +166 @@
 
 int cvGrabFrame(void);
-
 int read_frame_v4l2(void);
 void cvRetrieveRawFrame(void);