Changeset 352 in flair-src for trunk/lib/FlairSensorActuator


Ignore:
Timestamp:
02/19/20 17:07:13 (4 years ago)
Author:
Sanahuja Guillaume
Message:

v4lcamera: use pimpl

Location:
trunk/lib/FlairSensorActuator/src
Files:
2 added
2 edited

Legend:

Unmodified
Added
Removed

  • trunk/lib/FlairSensorActuator/src/V4LCamera.cpp

    r351 r352  
    1717
    1818#include "V4LCamera.h"
    19 #include <GroupBox.h>
    20 #include <DoubleSpinBox.h>
    21 #include <CheckBox.h>
    22 #include <Label.h>
     19#include "V4LCamera_impl.h"
    2320#include <Image.h>
    2421#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>
    31 #include <VisionFilter.h>
    3222
    3323using std::string;
    3424using namespace flair::core;
    35 using namespace flair::gui;
    3625
    3726namespace flair {
    … …  
    4332      Camera(name, width, height, format) {
    4433 
    45   string deviceName="/dev/video"+std::to_string(camera_index);
    46   device = open(deviceName.c_str(), O_RDWR | O_NONBLOCK);
    47   if (device == -1) {
    48       Thread::Err("Cannot open %s\n",deviceName.c_str());
    49   } else {
    50       Printf("V4LCamera %s, opened %s\n",name.c_str(),deviceName.c_str());
    51   }
    52 
    53   if(format == Image::Type::Format::UYVY) {
    54     if(Init(width,height,V4L2_PIX_FMT_UYVY) == -1) {
    55      Thread::Err("initialisation failed\n");
    56     }
    57   } else if (format == Image::Type::Format::YUYV) {
    58     if(Init(width,height,V4L2_PIX_FMT_YUYV) == -1) {
    59      Thread::Err("initialisation failed\n");
    60     }
    61   } else {
    62     Thread::Err("format not supported\n");
    63   }
    64  
    65   //todo: better handling of detection, only neeeded for omap/dm
    66   //also in run, copy from v4l to cmem is not necessary if not using cmem...
    67 #ifdef ARMV7A
    68   useMemoryUsrPtr=true;
    69 #else
    70   useMemoryUsrPtr=false;
    71 #endif
    72   if(useMemoryUsrPtr) {
    73     AllocUserBuffers();
    74   } else {
    75     AllocV4LBuffers();
    76   }
    77  
    78   for (int i=0;i < nbBuffers;i++) {
    79     QueueBuffer(i);
    80   }
    81 
    82   /* enable the streaming */
    83   v4l2_buf_type type;
    84   type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    85   if (-1 == xioctl (device, VIDIOC_STREAMON,&type)) {
    86     Thread::Err("VIDIOC_STREAMON error\n");
    87   }
    88  
    89   // ground station
    90   gain = new DoubleSpinBox(GetGroupBox()->NewRow(), "gain:", 0, 1, 0.1);
    91   exposure = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "exposure:", 0,1, 0.1);
    92   bright = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "bright:", 0, 1, 0.1);
    93   contrast = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "contrast:", 0,1, 0.1);
    94   hue = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "hue:", 0, 1, 0.1);
    95   sharpness = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "sharpness:", 0, 1, 0.1);
    96   sat = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "saturation:", 0, 1,0.1);
    97   autogain = new CheckBox(GetGroupBox()->NewRow(), "autogain:");
    98   autoexposure = new CheckBox(GetGroupBox()->LastRowLastCol(), "autoexposure:");
    99   awb = new CheckBox(GetGroupBox()->LastRowLastCol(), "awb:");
    100   fps = new Label(GetGroupBox()->NewRow(), "fps");
    101 
    102   hasProblems=false;
     34  pimpl_=new V4LCamera_impl(this,name,camera_index,width,height,format);
    10335}
    10436
    10537V4LCamera::~V4LCamera() {
    106   if(useMemoryUsrPtr) {
    107     for (int i = 0; i < nbBuffers; i++) {
    108       FreeFunction((char*)buffers[i]);
    109     }
    110   } else {
    111       FreeFunction(imageData);
    112   }
    11338  SafeStop();
    11439  Join();
    115   close(device);
    116 }
    117 
    118 int V4LCamera::Init(int width, int height,unsigned long colorspace) {
    119   struct v4l2_capability cap;
    120   memset(&cap, 0, sizeof (v4l2_capability));
    121  
    122   if(-1 == xioctl(device, VIDIOC_QUERYCAP, &cap)) {
    123     return -1;
    124   }
    125      
    126   if ((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
    127     Thread::Err("device is unable to capture video memory.\n");
    128     return -1;
    129   }
    130 
    131   struct v4l2_format form;
    132   memset(&form, 0, sizeof (v4l2_format));
    133   form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    134 
    135   /* read the current setting */
    136   if(-1 == xioctl(device, VIDIOC_G_FMT, &form)) {
    137    Thread::Err("Could not obtain specifics of capture window.\n");
    138    return -1;
    139   }
    140 
    141   /* set the values we want to change */
    142   form.fmt.pix.width = width;
    143   form.fmt.pix.height = height;
    144   form.fmt.win.chromakey = 0;
    145   form.fmt.win.field = V4L2_FIELD_ANY;
    146   form.fmt.win.clips = 0;
    147   form.fmt.win.clipcount = 0;
    148   form.fmt.pix.field = V4L2_FIELD_ANY;
    149   form.fmt.pix.pixelformat = colorspace;
    150 
    151   /* ask the device to change the size*/
    152   if(-1 == xioctl (device, VIDIOC_S_FMT, &form)) {
    153     Thread::Err("Could not set specifics of capture window.\n");
    154     return -1;
    155   }
    156  
    157   return 0;
    158 }
    159 
    160 int V4LCamera::AllocV4LBuffers() {
    161   struct v4l2_requestbuffers req;
    162   memset(&req, 0, sizeof (v4l2_requestbuffers));
    163   nbBuffers=DEFAULT_V4L_BUFFERS;
    164 
    165   try_again:
    166 
    167   req.count = nbBuffers;
    168   req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    169   req.memory = V4L2_MEMORY_MMAP;
    170 
    171   if(-1 == xioctl(device, VIDIOC_REQBUFS, &req)) {
    172     if (EINVAL == errno) {
    173       Thread::Err("camera does not support memory mapping\n");
    174     } else {
    175       Thread::Err("VIDIOC_REQBUFS failed\n");
    176     }
    177     return -1;
    178   }
    179 
    180   if(req.count < nbBuffers) {
    181     if (nbBuffers == 1) {
    182       Thread::Err("Insufficient buffer memory\n");
    183       return -1;
    184     } else {
    185       nbBuffers--;
    186       Thread::Warn("Insufficient buffer memory -- decreaseing buffers to %i\n",nbBuffers);
    187       goto try_again;
    188     }
    189   }
    190 
    191   for(int i=0; i<req.count; i++) {
    192     struct v4l2_buffer buf;
    193     memset(&buf, 0, sizeof (v4l2_buffer));
    194 
    195     buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    196     buf.memory = V4L2_MEMORY_MMAP;
    197     buf.index = i;
    198 
    199     if(-1 == xioctl(device, VIDIOC_QUERYBUF, &buf)) {
    200       Thread::Err("VIDIOC_QUERYBUF error\n");
    201       return -1;
    202     }
    203 
    204     if(output->GetDataType().GetSize()!=buf.length) {
    205       Thread::Err("buf size is not as exepcted %i/%i\n",buf.length,output->GetDataType().GetSize());
    206       return -1;
    207     }
    208 
    209     buffers[i]=mmap(NULL,buf.length,PROT_READ | PROT_WRITE,MAP_SHARED,device, buf.m.offset);
    210 
    211     if(MAP_FAILED == buffers[i]) {
    212       Thread::Err("mmap error\n");
    213       return -1;
    214     }
    215   }
    216 
    217   //allocate output data
    218   imageData = AllocFunction(output->GetDataType().GetSize());
    219   //Printf("cmem allocated %i at %x\n",output->GetDataType().GetSize(),imageData);
    220 
    221   return 1;
    222 };
    223 
    224 int V4LCamera::AllocUserBuffers(void) {
    225   struct v4l2_requestbuffers req;
    226   memset(&req, 0, sizeof (v4l2_requestbuffers));
    227   nbBuffers=DEFAULT_V4L_BUFFERS;
    228 
    229   req.count = nbBuffers;
    230   req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    231   req.memory = V4L2_MEMORY_USERPTR;
    232 
    233   if (xioctl (device, VIDIOC_REQBUFS, &req)==-1) {
    234     if (errno==EINVAL) {
    235       Thread::Err("VIDIOC_REQBUFS user memory not supported\n");
    236     } else {
    237       Thread::Err ("VIDIOC_REQBUFS xioctl\n");
    238     }
    239     return -1;
    240   }
    241 
    242   for (int i=0; i<nbBuffers; i++) {
    243     buffers[i] =AllocFunction(output->GetDataType().GetSize());
    244   }
    245 
    246   return 1;
    247 };
    248 
    249 int V4LCamera::GrabFrame(void) {
    250   fd_set fds;
    251   struct timeval tv;
    252   FD_ZERO (&fds);
    253   FD_SET (device, &fds);
    254 
    255   tv.tv_sec = 0;
    256   tv.tv_usec = 100000;
    257 
    258   int r=select(device+1, &fds, NULL, NULL, &tv);
    259 
    260   if (r==-1) {
    261     char errorMsg[256];
    262     Thread::Err("select (%s)\n", strerror_r(-r, errorMsg, sizeof(errorMsg)));
    263     return -1;
    264   }
    265 
    266   if (r==0) {
    267     Thread::Err("select timeout\n");
    268     return -1;
    269   }
    270  
    271   struct v4l2_buffer buf;
    272   memset(&buf, 0, sizeof (v4l2_buffer));
    273   buf.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
    274   if(useMemoryUsrPtr) {
    275     buf.memory=V4L2_MEMORY_USERPTR;
    276   } else {
    277     buf.memory=V4L2_MEMORY_MMAP;
    278   }
    279 
    280    //get last captured buffer
    281   dQueuedBuffer.index=-1;
    282   for(int i=0;i<nbBuffers;i++) {
    283     if (xioctl (device, VIDIOC_DQBUF, &buf)==-1) {
    284       if (errno==EAGAIN) {//when no new buffer is available for reading (non blocking)
    285         //Printf("%s eagain\n",Thread::ObjectName().c_str());
    286         break;
    287       } else {
    288         Thread::Err("VIDIOC_DQBUF xioctl\n");
    289         return -1;
    290       }
    291     } else {
    292       //Printf("%s %i dqueued\n",Thread::ObjectName().c_str(),buf.index);
    293       //Printf("%i %x %i %i\n",buf.bytesused,buf.flags,buf.field,buf.sequence);
    294       if(dQueuedBuffer.index!=-1) {
    295         //Printf("%s %i queued\n",Thread::ObjectName().c_str(),dQueuedBuffer.index);
    296         QueueBuffer(&dQueuedBuffer);
    297       }
    298       dQueuedBuffer=buf;
    299     }
    300   }
    301   //Printf("%s %i\n",Thread::ObjectName().c_str(),dQueuedBuffer.index);
    302 
    303   return 1;
     40  delete pimpl_;
    30441}
    30542
    30643void V4LCamera::Run(void) {
     44  pimpl_->Run();
     45  /*
    30746  Time cam_time, new_time, fpsNow, fpsPrev;
    30847  int fpsCounter = 0;
    … …  
    368107      Thread::Warn("delta t trop grand\n");
    369108      hasProblems=true;
    370     }/*
    371     if(hasProblems==false) {
    372       struct v4l2_format form;
    373       form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    374       xioctl(device, VIDIOC_G_FMT,&form);
    375       if(xioctl (device, VIDIOC_G_FMT,&form)<0) {
    376         Thread::Warn("camera disconnected\n");
    377         hasProblems=true;
    378       }
    379     }*/
     109    }
    380110
    381111    //select buffer
    … …  
    400130    }
    401131  }
    402 }
    403 
    404 int V4LCamera::QueueBuffer(struct v4l2_buffer *buf) {
    405   if(buf->index>=0 && buf->index<nbBuffers) {
    406     int ret=xioctl (device, VIDIOC_QBUF,buf);
    407     if (ret==-1) {
    408       Thread::Err("VIDIOC_QBUF xioctl %s\n",strerror(-ret));
    409       return -1;
    410     }
    411   }
    412   return 0;
    413 }
    414 
    415 int V4LCamera::QueueBuffer(int index) {
    416   struct v4l2_buffer buf;
    417   memset(&buf, 0, sizeof (v4l2_buffer));
    418  
    419   buf.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
    420   buf.index=(unsigned long)index;
    421   if(useMemoryUsrPtr) {
    422     buf.memory=V4L2_MEMORY_USERPTR;
    423     buf.m.userptr=(unsigned long)(buffers[index]);
    424     buf.length=output->GetDataType().GetSize();
    425   } else {
    426     buf.memory=V4L2_MEMORY_MMAP;
    427   }
    428   return QueueBuffer(&buf);
     132   */
    429133}
    430134
    431135bool V4LCamera::HasProblems(void) {
    432   return hasProblems;
     136  return pimpl_->hasProblems;
    433137}
    434138
    435139void V4LCamera::SetAutoGain(bool value) {
    436   SetProperty(V4L2_CID_AUTOGAIN, value);
     140  pimpl_->SetAutoGain(value);
    437141}
    438142
    … …  
    442146
    443147void V4LCamera::SetGain(float value) {
    444   SetProperty(V4L2_CID_GAIN, value);
     148  pimpl_->SetGain(value);
    445149}
    446150
    447151void V4LCamera::SetExposure(float value) {
    448   SetProperty(V4L2_CID_EXPOSURE, value);
     152  pimpl_->SetExposure(value);
    449153}
    450154
    451155void V4LCamera::SetBrightness(float value) {
    452   SetProperty(V4L2_CID_BRIGHTNESS, value);
     156  pimpl_->SetBrightness(value);
    453157}
    454158
    455159void V4LCamera::SetSaturation(float value) {
    456   SetProperty(V4L2_CID_SATURATION, value);
     160  pimpl_->SetSaturation(value);
    457161}
    458162
    459163void V4LCamera::SetHue(float value) {
    460   SetProperty(V4L2_CID_HUE, value);
     164  pimpl_->SetHue(value);
    461165}
    462166
    463167void V4LCamera::SetContrast(float value) {
    464   SetProperty(V4L2_CID_CONTRAST, value);
    465 }
    466 
    467 float V4LCamera::GetProperty(int property) {
    468   //get min and max value
    469   struct v4l2_queryctrl queryctrl;
    470   queryctrl.id = property;
    471   if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) return -1;
    472   int min = queryctrl.minimum;
    473   int max = queryctrl.maximum;
    474  
    475   //set value
    476   struct v4l2_control control;
    477   memset (&control, 0, sizeof (v4l2_control));
    478   control.id = property;
    479   if(xioctl (device,VIDIOC_G_CTRL, &control)==-1) return -1;
    480  
    481   return ((float)control.value - min + 1) / (max - min);
    482 }
    483 
    484 void V4LCamera::SetProperty(int property,float value) {
    485   //get min and max value
    486   struct v4l2_queryctrl queryctrl;
    487   queryctrl.id = property;
    488   if(xioctl (device, VIDIOC_QUERYCTRL,&queryctrl)==-1) {
    489     Thread::Warn("prop %x, VIDIOC_QUERYCTRL failed\n",property);
    490   }
    491   int min = queryctrl.minimum;
    492   int max = queryctrl.maximum;
    493  
    494   //set value
    495   struct v4l2_control control;
    496   memset (&control, 0, sizeof (v4l2_control));
    497   control.id = property;
    498   control.value = (int)(value * (max - min) + min);
    499   if(xioctl (device,VIDIOC_S_CTRL, &control)==-1) {
    500     Thread::Warn("prop %x, VIDIOC_S_CTRL failed\n",property);
    501   }
    502 }
    503 
    504 int V4LCamera::xioctl( int fd, int request, void *arg) {
    505   int r;
    506 
    507   do r = ioctl (fd, request, arg);
    508   while (-1 == r && EINTR == errno);
    509 
    510   return r;
     168  pimpl_->SetContrast(value);
    511169}
    512170

  • trunk/lib/FlairSensorActuator/src/V4LCamera.h

    r351 r352  
    1111 */
    1212
    13 #ifndef V4LCamera_H
    14 #define V4LCamera_H
     13#ifndef V4LCAMERA_H
     14#define V4LCAMERA_H
    1515
    1616#include <Thread.h>
    1717#include "Camera.h"
    18 
    19 #include <linux/videodev2.h>
    20 #define DEFAULT_V4L_BUFFERS 4
    2118
    2219namespace flair {
    … …  
    2421    class Image;
    2522  }
    26   namespace gui {
    27     class DoubleSpinBox;
    28     class CheckBox;
    29     class Label;
    30   }
    3123}
     24
     25class V4LCamera_impl;
    3226
    3327namespace flair {
    … …  
    3832*/
    3933class V4LCamera : public core::Thread, public Camera {
     34  friend class ::V4LCamera_impl;
    4035public:
    4136  /*!
    … …  
    141136  void Run(void);
    142137 
    143   gui::Tab *sensor_tab;
    144   gui::DoubleSpinBox *bright, *exposure, *gain, *contrast, *hue, *sharpness,*sat;
    145   gui::CheckBox *autogain, *awb, *autoexposure;
    146   gui::Label *fps;
    147  
    148   int device;
    149   bool hasProblems;
    150   void* buffers[DEFAULT_V4L_BUFFERS];
    151   int nbBuffers;
    152   char *imageData;
    153   bool useMemoryUsrPtr;
    154  
    155   int Init(int width, int height,unsigned long colorspace);
    156   int xioctl( int fd, int request, void *arg);
    157   void SetProperty(int property,float value);
    158   float GetProperty(int property);
    159   int GrabFrame(void);
    160   int AllocV4LBuffers(void);
    161   int AllocUserBuffers(void);
    162   int QueueBuffer(int index);
    163   int QueueBuffer(struct v4l2_buffer *buf);
    164   struct v4l2_buffer dQueuedBuffer;
     138  class V4LCamera_impl *pimpl_;
    165139};
    166140} // end namespace sensor
    167141} // end namespace flair
    168 #endif // V4LCamera_H
     142#endif // V4LCAMERA_H
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