From e474c90fcd4aae038c743d9f8682050b34cec1a8 Mon Sep 17 00:00:00 2001 From: johan Date: Sat, 4 Jan 2014 13:24:05 +0100 Subject: [PATCH] V4L2 test added Former-commit-id: eec49d94ffbb0e1be0639e9cbbebba5955c79f4d --- CMakeLists.txt | 5 +- HyperionConfig.h.in | 3 + test/CMakeLists.txt | 4 + test/v4l2png/CMakeLists.txt | 17 ++ test/v4l2png/V4L2Grabber.cpp | 531 +++++++++++++++++++++++++++++++++++ test/v4l2png/V4L2Grabber.h | 62 ++++ test/v4l2png/v4l2png.cpp | 48 ++++ 7 files changed, 669 insertions(+), 1 deletion(-) create mode 100644 test/v4l2png/CMakeLists.txt create mode 100644 test/v4l2png/V4L2Grabber.cpp create mode 100644 test/v4l2png/V4L2Grabber.h create mode 100644 test/v4l2png/v4l2png.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index 99d3baf3..3d0056c5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -10,6 +10,9 @@ cmake_minimum_required(VERSION 2.8) option (ENABLE_DISPMANX "Enable the RPi dispmanx grabber" ON) message(STATUS "ENABLE_DISPMANX = " ${ENABLE_DISPMANX}) +option (ENABLE_V4L2 "Enable the V4L2 grabber" ON) +message(STATUS "ENABLE_V4L2 = " ${ENABLE_V4L2}) + # Createt the configuration file # configure a header file to pass some of the CMake settings # to the source code @@ -39,7 +42,7 @@ include_directories(${CMAKE_SOURCE_DIR}/include) set(CMAKE_BUILD_TYPE "Release") # enable C++11 -set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -Wall") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -Wall -g") # Configure the use of QT4 find_package(Qt4 COMPONENTS QtCore QtGui QtNetwork REQUIRED QUIET) diff --git a/HyperionConfig.h.in b/HyperionConfig.h.in index 875e1193..16bb5776 100644 --- a/HyperionConfig.h.in +++ b/HyperionConfig.h.in @@ -2,3 +2,6 @@ // Define to enable the dispmanx grabber #cmakedefine ENABLE_DISPMANX + +// Define to enable the v4l2 grabber +#cmakedefine ENABLE_V4L2 diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index 45f99a5e..0d511d7c 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -31,6 +31,10 @@ if (ENABLE_DISPMANX) add_subdirectory(dispmanx2png) endif (ENABLE_DISPMANX) +if (ENABLE_V4L2) + add_subdirectory(v4l2png) +endif (ENABLE_V4L2) + add_executable(test_blackborderdetector TestBlackBorderDetector.cpp) target_link_libraries(test_blackborderdetector diff --git a/test/v4l2png/CMakeLists.txt b/test/v4l2png/CMakeLists.txt new file mode 100644 index 00000000..dd0cba27 --- /dev/null +++ b/test/v4l2png/CMakeLists.txt @@ -0,0 +1,17 @@ + +# find Qt4 +find_package(Qt4 REQUIRED QtCore QtGui) + +include_directories(${QT_INCLUDES}) + +add_executable(v4l_to_png + v4l2png.cpp + V4L2Grabber.h + V4L2Grabber.cpp) + +target_link_libraries(v4l_to_png + getoptPlusPlus) + +qt4_use_modules(v4l_to_png + Core + Gui) diff --git a/test/v4l2png/V4L2Grabber.cpp b/test/v4l2png/V4L2Grabber.cpp new file mode 100644 index 00000000..bee23e30 --- /dev/null +++ b/test/v4l2png/V4L2Grabber.cpp @@ -0,0 +1,531 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "V4L2Grabber.h" + +#define CLEAR(x) memset(&(x), 0, sizeof(x)) + +V4L2Grabber::V4L2Grabber() : + _deviceName("/dev/video0"), + _ioMethod(IO_METHOD_MMAP), + _fileDescriptor(-1), + _buffers() +{ +} + +V4L2Grabber::~V4L2Grabber() +{ +} + +void V4L2Grabber::start() +{ + open_device(); + init_device(); + start_capturing(); + + int count = 100; + while (count-- > 0) { + for (;;) { + fd_set fds; + struct timeval tv; + int r; + + FD_ZERO(&fds); + FD_SET(_fileDescriptor, &fds); + + /* Timeout. */ + tv.tv_sec = 2; + tv.tv_usec = 0; + + r = select(_fileDescriptor + 1, &fds, NULL, NULL, &tv); + + if (-1 == r) + { + if (EINTR == errno) + continue; + errno_exit("select"); + } + + if (0 == r) + { + fprintf(stderr, "select timeout\n"); + exit(EXIT_FAILURE); + } + + if (read_frame()) + break; + /* EAGAIN - continue select loop. */ + } + } + + stop_capturing(); + uninit_device(); + close_device(); +} + +void V4L2Grabber::open_device() +{ + struct stat st; + + if (-1 == stat(_deviceName.c_str(), &st)) + { + fprintf(stderr, "Cannot identify '%s': %d, %s\n", _deviceName.c_str(), errno, strerror(errno)); + exit(EXIT_FAILURE); + } + + if (!S_ISCHR(st.st_mode)) + { + fprintf(stderr, "%s is no device\n", _deviceName.c_str()); + exit(EXIT_FAILURE); + } + + _fileDescriptor = open(_deviceName.c_str(), O_RDWR /* required */ | O_NONBLOCK, 0); + + if (-1 == _fileDescriptor) + { + fprintf(stderr, "Cannot open '%s': %d, %s\n", _deviceName.c_str(), errno, strerror(errno)); + exit(EXIT_FAILURE); + } +} + +void V4L2Grabber::close_device() +{ + if (-1 == close(_fileDescriptor)) + errno_exit("close"); + + _fileDescriptor = -1; +} + +void V4L2Grabber::init_read(unsigned int buffer_size) +{ + _buffers.resize(1); + + _buffers[0].length = buffer_size; + _buffers[0].start = malloc(buffer_size); + + if (!_buffers[0].start) { + fprintf(stderr, "Out of memory\n"); + exit(EXIT_FAILURE); + } +} + +void V4L2Grabber::init_mmap() +{ + struct v4l2_requestbuffers req; + + CLEAR(req); + + req.count = 4; + req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + req.memory = V4L2_MEMORY_MMAP; + + if (-1 == xioctl(VIDIOC_REQBUFS, &req)) { + if (EINVAL == errno) { + fprintf(stderr, "%s does not support memory mapping\n", _deviceName.c_str()); + exit(EXIT_FAILURE); + } else { + errno_exit("VIDIOC_REQBUFS"); + } + } + + if (req.count < 2) { + fprintf(stderr, "Insufficient buffer memory on %s\n", _deviceName.c_str()); + exit(EXIT_FAILURE); + } + + _buffers.resize(req.count); + + for (size_t n_buffers = 0; n_buffers < req.count; ++n_buffers) { + struct v4l2_buffer buf; + + CLEAR(buf); + + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + buf.index = n_buffers; + + if (-1 == xioctl(VIDIOC_QUERYBUF, &buf)) + errno_exit("VIDIOC_QUERYBUF"); + + _buffers[n_buffers].length = buf.length; + _buffers[n_buffers].start = + mmap(NULL /* start anywhere */, + buf.length, + PROT_READ | PROT_WRITE /* required */, + MAP_SHARED /* recommended */, + _fileDescriptor, buf.m.offset); + + if (MAP_FAILED == _buffers[n_buffers].start) + errno_exit("mmap"); + } +} + +void V4L2Grabber::init_userp(unsigned int buffer_size) +{ + struct v4l2_requestbuffers req; + + CLEAR(req); + + req.count = 4; + req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + req.memory = V4L2_MEMORY_USERPTR; + + if (-1 == xioctl(VIDIOC_REQBUFS, &req)) { + if (EINVAL == errno) + { + fprintf(stderr, "%s does not support user pointer i/o\n", _deviceName.c_str()); + exit(EXIT_FAILURE); + } else { + errno_exit("VIDIOC_REQBUFS"); + } + } + + _buffers.resize(4); + + for (size_t n_buffers = 0; n_buffers < 4; ++n_buffers) { + _buffers[n_buffers].length = buffer_size; + _buffers[n_buffers].start = malloc(buffer_size); + + if (!_buffers[n_buffers].start) { + fprintf(stderr, "Out of memory\n"); + exit(EXIT_FAILURE); + } + } +} + +void V4L2Grabber::init_device() +{ + struct v4l2_capability cap; + struct v4l2_cropcap cropcap; + struct v4l2_crop crop; + struct v4l2_format fmt; + + if (-1 == xioctl(VIDIOC_QUERYCAP, &cap)) + { + if (EINVAL == errno) { + fprintf(stderr, "%s is no V4L2 device\n", _deviceName.c_str()); + exit(EXIT_FAILURE); + } else { + errno_exit("VIDIOC_QUERYCAP"); + } + } + + if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) + { + fprintf(stderr, "%s is no video capture device\n", _deviceName.c_str()); + exit(EXIT_FAILURE); + } + + switch (_ioMethod) { + case IO_METHOD_READ: + if (!(cap.capabilities & V4L2_CAP_READWRITE)) + { + fprintf(stderr, "%s does not support read i/o\n", _deviceName.c_str()); + exit(EXIT_FAILURE); + } + break; + + case IO_METHOD_MMAP: + case IO_METHOD_USERPTR: + if (!(cap.capabilities & V4L2_CAP_STREAMING)) + { + fprintf(stderr, "%s does not support streaming i/o\n", _deviceName.c_str()); + exit(EXIT_FAILURE); + } + break; + } + + + /* Select video input, video standard and tune here. */ + + + CLEAR(cropcap); + + cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + + if (0 == xioctl(VIDIOC_CROPCAP, &cropcap)) { + crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + crop.c = cropcap.defrect; /* reset to default */ + + if (-1 == xioctl(VIDIOC_S_CROP, &crop)) { + switch (errno) { + case EINVAL: + /* Cropping not supported. */ + break; + default: + /* Errors ignored. */ + break; + } + } + } else { + /* Errors ignored. */ + } + + + CLEAR(fmt); + + fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + + /* Preserve original settings as set by v4l2-ctl for example */ + if (-1 == xioctl(VIDIOC_G_FMT, &fmt)) + { + errno_exit("VIDIOC_G_FMT"); + } + +// /* Buggy driver paranoia. */ +// min = fmt.fmt.pix.width * 2; +// if (fmt.fmt.pix.bytesperline < min) +// fmt.fmt.pix.bytesperline = min; +// min = fmt.fmt.pix.bytesperline * fmt.fmt.pix.height; +// if (fmt.fmt.pix.sizeimage < min) +// fmt.fmt.pix.sizeimage = min; + + switch (_ioMethod) { + case IO_METHOD_READ: + init_read(fmt.fmt.pix.sizeimage); + break; + + case IO_METHOD_MMAP: + init_mmap(); + break; + + case IO_METHOD_USERPTR: + init_userp(fmt.fmt.pix.sizeimage); + break; + } +} + +void V4L2Grabber::uninit_device() +{ + switch (_ioMethod) { + case IO_METHOD_READ: + free(_buffers[0].start); + break; + + case IO_METHOD_MMAP: + for (size_t i = 0; i < _buffers.size(); ++i) + if (-1 == munmap(_buffers[i].start, _buffers[i].length)) + errno_exit("munmap"); + break; + + case IO_METHOD_USERPTR: + for (size_t i = 0; i < _buffers.size(); ++i) + free(_buffers[i].start); + break; + } + + _buffers.resize(0); +} + +void V4L2Grabber::start_capturing() +{ + switch (_ioMethod) { + case IO_METHOD_READ: + /* Nothing to do. */ + break; + + case IO_METHOD_MMAP: + { + for (size_t i = 0; i < _buffers.size(); ++i) { + struct v4l2_buffer buf; + + CLEAR(buf); + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + buf.index = i; + + if (-1 == xioctl(VIDIOC_QBUF, &buf)) + errno_exit("VIDIOC_QBUF"); + } + v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (-1 == xioctl(VIDIOC_STREAMON, &type)) + errno_exit("VIDIOC_STREAMON"); + break; + } + case IO_METHOD_USERPTR: + { + for (size_t i = 0; i < _buffers.size(); ++i) { + struct v4l2_buffer buf; + + CLEAR(buf); + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_USERPTR; + buf.index = i; + buf.m.userptr = (unsigned long)_buffers[i].start; + buf.length = _buffers[i].length; + + if (-1 == xioctl(VIDIOC_QBUF, &buf)) + errno_exit("VIDIOC_QBUF"); + } + v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (-1 == xioctl(VIDIOC_STREAMON, &type)) + errno_exit("VIDIOC_STREAMON"); + break; + } + } +} + +void V4L2Grabber::stop_capturing() +{ + enum v4l2_buf_type type; + + switch (_ioMethod) { + case IO_METHOD_READ: + /* Nothing to do. */ + break; + + case IO_METHOD_MMAP: + case IO_METHOD_USERPTR: + type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (-1 == xioctl(VIDIOC_STREAMOFF, &type)) + errno_exit("VIDIOC_STREAMOFF"); + break; + } +} + +int V4L2Grabber::read_frame() +{ + struct v4l2_buffer buf; + + switch (_ioMethod) { + case IO_METHOD_READ: + if (-1 == read(_fileDescriptor, _buffers[0].start, _buffers[0].length)) { + switch (errno) { + case EAGAIN: + return 0; + + case EIO: + /* Could ignore EIO, see spec. */ + + /* fall through */ + + default: + errno_exit("read"); + } + } + + process_image(_buffers[0].start, _buffers[0].length); + break; + + case IO_METHOD_MMAP: + CLEAR(buf); + + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + + if (-1 == xioctl(VIDIOC_DQBUF, &buf)) { + switch (errno) { + case EAGAIN: + return 0; + + case EIO: + /* Could ignore EIO, see spec. */ + + /* fall through */ + + default: + errno_exit("VIDIOC_DQBUF"); + } + } + + assert(buf.index < _buffers.size()); + + process_image(_buffers[buf.index].start, buf.bytesused); + + if (-1 == xioctl(VIDIOC_QBUF, &buf)) + errno_exit("VIDIOC_QBUF"); + break; + + case IO_METHOD_USERPTR: + CLEAR(buf); + + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_USERPTR; + + if (-1 == xioctl(VIDIOC_DQBUF, &buf)) { + switch (errno) { + case EAGAIN: + return 0; + + case EIO: + /* Could ignore EIO, see spec. */ + + /* fall through */ + + default: + errno_exit("VIDIOC_DQBUF"); + } + } + + for (size_t i = 0; i < _buffers.size(); ++i) + if (buf.m.userptr == (unsigned long)_buffers[i].start + && buf.length == _buffers[i].length) + break; + + process_image((void *)buf.m.userptr, buf.bytesused); + + if (-1 == xioctl(VIDIOC_QBUF, &buf)) + errno_exit("VIDIOC_QBUF"); + break; + } + + return 1; +} + +void V4L2Grabber::process_image(const void *p, int size) +{ + if (size != 2*720*480) + { + std::cout << "Frame too small: " << size << "<" << (2*720*480) << std::endl; + return; + } + + std::cout << "process image of size = " << size << std::endl; + + const uint8_t * data = reinterpret_cast(p); + + + QImage image(720, 480, QImage::Format_RGB888); + + for (int y = 0; y < image.height(); ++y) + { + for (int x = 0; x < image.width(); ++x) + { + uint8_t value = data[(720 * y + x) * 2 + 1]; + image.setPixel(x, y, qRgb(value, value, value)); + } + } + + image.save("/home/pi/screenshot.png"); +} + +int V4L2Grabber::xioctl(int request, void *arg) +{ + int r; + + do { + r = ioctl(_fileDescriptor, request, arg); + } while (-1 == r && EINTR == errno); + + return r; +} + +void V4L2Grabber::errno_exit(const char *s) +{ + fprintf(stderr, "%s error %d, %s\n", s, errno, strerror(errno)); + exit(EXIT_FAILURE); +} diff --git a/test/v4l2png/V4L2Grabber.h b/test/v4l2png/V4L2Grabber.h new file mode 100644 index 00000000..1484973d --- /dev/null +++ b/test/v4l2png/V4L2Grabber.h @@ -0,0 +1,62 @@ +#pragma once + +// stl includes +#include +#include + +/// Capture class for V4L2 devices +/// +/// @see http://linuxtv.org/downloads/v4l-dvb-apis/capture-example.html +class V4L2Grabber +{ +public: + V4L2Grabber(); + virtual ~V4L2Grabber(); + + void start(); + +private: + void open_device(); + + void close_device(); + + void init_read(unsigned int buffer_size); + + void init_mmap(); + + void init_userp(unsigned int buffer_size); + + void init_device(); + + void uninit_device(); + + void start_capturing(); + + void stop_capturing(); + + int read_frame(); + + void process_image(const void *p, int size); + + int xioctl(int request, void *arg); + + void errno_exit(const char *s); + +private: + enum io_method { + IO_METHOD_READ, + IO_METHOD_MMAP, + IO_METHOD_USERPTR + }; + + struct buffer { + void *start; + size_t length; + }; + +private: + const std::string _deviceName; + const io_method _ioMethod; + int _fileDescriptor; + std::vector _buffers; +}; diff --git a/test/v4l2png/v4l2png.cpp b/test/v4l2png/v4l2png.cpp new file mode 100644 index 00000000..a2e077ff --- /dev/null +++ b/test/v4l2png/v4l2png.cpp @@ -0,0 +1,48 @@ + +// STL includes +#include +#include + +// QT includes +#include + +// getoptPlusPLus includes +#include + +#include "V4L2Grabber.h" + +using namespace vlofgren; + +int main(int argc, char** argv) +{ + try + { + // create the option parser and initialize all parameters + OptionsParser optionParser("Simple application to send a command to hyperion using the Json interface"); + ParameterSet & parameters = optionParser.getParameters(); + + SwitchParameter<> & argHelp = parameters.add >('h', "help", "Show this help message and exit"); + + // parse all options + optionParser.parse(argc, const_cast(argv)); + + // check if we need to display the usage. exit if we do. + if (argHelp.isSet()) + { + optionParser.usage(); + return 0; + } + } + catch (const std::runtime_error & e) + { + // An error occured. Display error and quit + std::cerr << e.what() << std::endl; + return 1; + } + + V4L2Grabber grabber; + grabber.start(); + + return 0; +} +