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hyperion.ng/libsrc/grabber/v4l2/V4L2Grabber.cpp

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#include <iostream>
#include <sstream>
#include <stdexcept>
#include <cstdio>
#include <cassert>
#include <cstdlib>
#include <cstring>
#include <sstream>
#include <fcntl.h>
#include <unistd.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/mman.h>
#include <sys/ioctl.h>
#include <linux/videodev2.h>
#include <hyperion/Hyperion.h>
#include <hyperion/HyperionIManager.h>
#include <QDirIterator>
#include <QFileInfo>
#include "grabber/V4L2Grabber.h"
#define CLEAR(x) memset(&(x), 0, sizeof(x))
#ifndef V4L2_CAP_META_CAPTURE
#define V4L2_CAP_META_CAPTURE 0x00800000 // Specified in kernel header v4.16. Required for backward compatibility.
#endif
V4L2Grabber::V4L2Grabber(const QString & device
, const unsigned width
, const unsigned height
, const unsigned fps
, const unsigned input
, VideoStandard videoStandard
, PixelFormat pixelFormat
, int pixelDecimation
)
: Grabber("V4L2:"+device)
, _deviceName()
, _videoStandard(videoStandard)
, _ioMethod(IO_METHOD_MMAP)
, _fileDescriptor(-1)
, _buffers()
, _pixelFormat(pixelFormat)
, _pixelDecimation(-1)
, _lineLength(-1)
, _frameByteSize(-1)
, _noSignalCounterThreshold(40)
, _noSignalThresholdColor(ColorRgb{0,0,0})
, _signalDetectionEnabled(true)
, _noSignalDetected(false)
, _noSignalCounter(0)
, _x_frac_min(0.25)
, _y_frac_min(0.25)
, _x_frac_max(0.75)
, _y_frac_max(0.75)
, _streamNotifier(nullptr)
, _initialized(false)
, _deviceAutoDiscoverEnabled(false)
{
setPixelDecimation(pixelDecimation);
getV4Ldevices();
// init
setInput(input);
setWidthHeight(width, height);
setFramerate(fps);
setDeviceVideoStandard(device, videoStandard);
}
V4L2Grabber::~V4L2Grabber()
{
uninit();
}
void V4L2Grabber::uninit()
{
// stop if the grabber was not stopped
if (_initialized)
{
Debug(_log,"uninit grabber: %s", QSTRING_CSTR(_deviceName));
stop();
}
}
bool V4L2Grabber::init()
{
if (!_initialized)
{
getV4Ldevices();
QString v4lDevices_str;
// show list only once
if (!QString(QSTRING_CSTR(_deviceName)).startsWith("/dev/"))
{
for (auto& dev: _v4lDevices)
{
v4lDevices_str += "\t"+ dev.first + "\t" + dev.second + "\n";
}
if (!v4lDevices_str.isEmpty())
Info(_log, "available V4L2 devices:\n%s", QSTRING_CSTR(v4lDevices_str));
}
if (_deviceName == "auto")
{
_deviceAutoDiscoverEnabled = true;
_deviceName = "unknown";
Info( _log, "search for usable video devices" );
for (auto& dev: _v4lDevices)
{
_deviceName = dev.first;
if (init())
{
Info(_log, "found usable v4l2 device: %s (%s)",QSTRING_CSTR(dev.first), QSTRING_CSTR(dev.second));
_deviceAutoDiscoverEnabled = false;
return _initialized;
}
}
Info(_log, "no usable device found");
}
else if (!_deviceName.startsWith("/dev/"))
{
for (auto& dev: _v4lDevices)
{
if (_deviceName.toLower() == dev.second.toLower())
{
_deviceName = dev.first;
Info(_log, "found v4l2 device with configured name: %s (%s)", QSTRING_CSTR(dev.second), QSTRING_CSTR(dev.first) );
break;
}
}
}
else
{
Info(_log, "%s v4l device: %s", (_deviceAutoDiscoverEnabled? "test" : "configured"), QSTRING_CSTR(_deviceName));
}
bool opened = false;
try
{
// do not init with unknown device
if (_deviceName != "unknown")
{
if (open_device())
{
opened = true;
init_device(_videoStandard);
_initialized = true;
}
}
}
catch(std::exception& e)
{
if (opened)
{
uninit_device();
close_device();
}
ErrorIf( !_deviceAutoDiscoverEnabled, _log, "V4l2 init failed (%s)", e.what());
}
}
return _initialized;
}
void V4L2Grabber::getV4Ldevices()
{
QDirIterator it("/sys/class/video4linux/", QDirIterator::NoIteratorFlags);
_deviceProperties.clear();
while(it.hasNext())
{
//_v4lDevices
QString dev = it.next();
if (it.fileName().startsWith("video"))
{
QString devName = "/dev/" + it.fileName();
int fd = open(QSTRING_CSTR(devName), O_RDWR | O_NONBLOCK, 0);
if (fd < 0)
{
throw_errno_exception("Cannot open '" + devName + "'");
continue;
}
struct v4l2_capability cap;
CLEAR(cap);
if (xioctl(fd, VIDIOC_QUERYCAP, &cap) < 0)
{
throw_errno_exception("'" + devName + "' is no V4L2 device");
close(fd);
continue;
}
if (cap.device_caps & V4L2_CAP_META_CAPTURE) // this device has bit 23 set (and bit 1 reset), so it doesn't have capture.
{
close(fd);
continue;
}
// get the current settings
struct v4l2_format fmt;
CLEAR(fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (xioctl(fd, VIDIOC_G_FMT, &fmt) < 0)
{
close(fd);
continue;
}
V4L2Grabber::DeviceProperties properties;
// collect available device inputs (index & name)
int inputIndex;
if (xioctl(fd, VIDIOC_G_INPUT, &inputIndex) == 0)
{
struct v4l2_input input;
CLEAR(input);
input.index = 0;
while (xioctl(fd, VIDIOC_ENUMINPUT, &input) >= 0)
{
properties.inputs.insert(QString((char*)input.name), input.index);
input.index++;
}
}
// collect available device resolutions & frame rates
struct v4l2_frmsizeenum frmsizeenum;
CLEAR(frmsizeenum);
frmsizeenum.index = 0;
frmsizeenum.pixel_format = fmt.fmt.pix.pixelformat;
while (xioctl(fd, VIDIOC_ENUM_FRAMESIZES, &frmsizeenum) >= 0)
{
switch (frmsizeenum.type)
{
case V4L2_FRMSIZE_TYPE_DISCRETE:
{
properties.resolutions << QString::number(frmsizeenum.discrete.width) + "x" + QString::number(frmsizeenum.discrete.height);
enumFrameIntervals(properties.framerates, fd, fmt.fmt.pix.pixelformat, frmsizeenum.discrete.width, frmsizeenum.discrete.height);
}
break;
case V4L2_FRMSIZE_TYPE_CONTINUOUS:
case V4L2_FRMSIZE_TYPE_STEPWISE:
// We do not take care of V4L2_FRMSIZE_TYPE_CONTINUOUS or V4L2_FRMSIZE_TYPE_STEPWISE
break;
}
frmsizeenum.index++;
}
if (close(fd) < 0) continue;
QFile devNameFile(dev+"/name");
if (devNameFile.exists())
{
devNameFile.open(QFile::ReadOnly);
devName = devNameFile.readLine();
devName = devName.trimmed();
properties.name = devName;
devNameFile.close();
}
_v4lDevices.emplace("/dev/"+it.fileName(), devName);
_deviceProperties.insert("/dev/"+it.fileName(), properties);
}
}
}
void V4L2Grabber::setSignalThreshold(double redSignalThreshold, double greenSignalThreshold, double blueSignalThreshold, int noSignalCounterThreshold)
{
_noSignalThresholdColor.red = uint8_t(255*redSignalThreshold);
_noSignalThresholdColor.green = uint8_t(255*greenSignalThreshold);
_noSignalThresholdColor.blue = uint8_t(255*blueSignalThreshold);
_noSignalCounterThreshold = qMax(1, noSignalCounterThreshold);
Info(_log, "Signal threshold set to: {%d, %d, %d}", _noSignalThresholdColor.red, _noSignalThresholdColor.green, _noSignalThresholdColor.blue );
}
void V4L2Grabber::setSignalDetectionOffset(double horizontalMin, double verticalMin, double horizontalMax, double verticalMax)
{
// rainbow 16 stripes 0.47 0.2 0.49 0.8
// unicolor: 0.25 0.25 0.75 0.75
_x_frac_min = horizontalMin;
_y_frac_min = verticalMin;
_x_frac_max = horizontalMax;
_y_frac_max = verticalMax;
Info(_log, "Signal detection area set to: %f,%f x %f,%f", _x_frac_min, _y_frac_min, _x_frac_max, _y_frac_max );
}
bool V4L2Grabber::start()
{
try
{
if (init() && _streamNotifier != nullptr && !_streamNotifier->isEnabled())
{
_streamNotifier->setEnabled(true);
start_capturing();
Info(_log, "Started");
return true;
}
}
catch(std::exception& e)
{
Error(_log, "start failed (%s)", e.what());
}
return false;
}
void V4L2Grabber::stop()
{
if (_streamNotifier != nullptr && _streamNotifier->isEnabled())
{
stop_capturing();
_streamNotifier->setEnabled(false);
uninit_device();
close_device();
_initialized = false;
_deviceProperties.clear();
Info(_log, "Stopped");
}
}
bool V4L2Grabber::open_device()
{
struct stat st;
if (-1 == stat(QSTRING_CSTR(_deviceName), &st))
{
throw_errno_exception("Cannot identify '" + _deviceName + "'");
return false;
}
if (!S_ISCHR(st.st_mode))
{
throw_exception("'" + _deviceName + "' is no device");
return false;
}
_fileDescriptor = open(QSTRING_CSTR(_deviceName), O_RDWR | O_NONBLOCK, 0);
if (-1 == _fileDescriptor)
{
throw_errno_exception("Cannot open '" + _deviceName + "'");
return false;
}
// create the notifier for when a new frame is available
_streamNotifier = new QSocketNotifier(_fileDescriptor, QSocketNotifier::Read);
_streamNotifier->setEnabled(false);
connect(_streamNotifier, SIGNAL(activated(int)), this, SLOT(read_frame()));
return true;
}
void V4L2Grabber::close_device()
{
if (-1 == close(_fileDescriptor))
{
throw_errno_exception("close");
return;
}
_fileDescriptor = -1;
if (_streamNotifier != nullptr)
{
delete _streamNotifier;
_streamNotifier = nullptr;
}
}
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)
{
throw_exception("Out of memory");
return;
}
}
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)
{
throw_exception("'" + _deviceName + "' does not support memory mapping");
return;
}
else
{
throw_errno_exception("VIDIOC_REQBUFS");
return;
}
}
if (req.count < 2)
{
throw_exception("Insufficient buffer memory on " + _deviceName);
return;
}
_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))
{
throw_errno_exception("VIDIOC_QUERYBUF");
return;
}
_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)
{
throw_errno_exception("mmap");
return;
}
}
}
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)
{
throw_exception("'" + _deviceName + "' does not support user pointer");
return;
}
else
{
throw_errno_exception("VIDIOC_REQBUFS");
return;
}
}
_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)
{
throw_exception("Out of memory");
return;
}
}
}
void V4L2Grabber::init_device(VideoStandard videoStandard)
{
struct v4l2_capability cap;
CLEAR(cap);
if (-1 == xioctl(VIDIOC_QUERYCAP, &cap))
{
if (EINVAL == errno)
{
throw_exception("'" + _deviceName + "' is no V4L2 device");
return;
}
else
{
throw_errno_exception("VIDIOC_QUERYCAP");
return;
}
}
if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE))
{
throw_exception("'" + _deviceName + "' is no video capture device");
return;
}
switch (_ioMethod)
{
case IO_METHOD_READ:
{
if (!(cap.capabilities & V4L2_CAP_READWRITE))
{
throw_exception("'" + _deviceName + "' does not support read i/o");
return;
}
}
break;
case IO_METHOD_MMAP:
case IO_METHOD_USERPTR:
{
if (!(cap.capabilities & V4L2_CAP_STREAMING))
{
throw_exception("'" + _deviceName + "' does not support streaming i/o");
return;
}
}
break;
}
/* Select video input, video standard and tune here. */
struct v4l2_cropcap cropcap;
CLEAR(cropcap);
cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (0 == xioctl(VIDIOC_CROPCAP, &cropcap))
{
struct v4l2_crop crop;
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. */
default: /* Errors ignored. */
break;
}
}
}
else
{
/* Errors ignored. */
}
// set input if needed and supported
struct v4l2_input v4l2Input;
CLEAR(v4l2Input);
v4l2Input.index = _input;
if (_input >= 0 && 0 == xioctl(VIDIOC_ENUMINPUT, &v4l2Input))
{
(-1 == xioctl(VIDIOC_S_INPUT, &_input))
? Debug(_log, "Input settings not supported.")
: Debug(_log, "Set device input to: %s", v4l2Input.name);
}
// set the video standard if needed and supported
struct v4l2_standard standard;
CLEAR(standard);
if (-1 != xioctl(VIDIOC_ENUMSTD, &standard))
{
switch (videoStandard)
{
case VIDEOSTANDARD_PAL:
{
standard.id = V4L2_STD_PAL;
if (-1 == xioctl(VIDIOC_S_STD, &standard.id))
{
throw_errno_exception("VIDIOC_S_STD");
break;
}
Debug(_log, "Video standard=PAL");
}
break;
case VIDEOSTANDARD_NTSC:
{
standard.id = V4L2_STD_NTSC;
if (-1 == xioctl(VIDIOC_S_STD, &standard.id))
{
throw_errno_exception("VIDIOC_S_STD");
break;
}
Debug(_log, "Video standard=NTSC");
}
break;
case VIDEOSTANDARD_SECAM:
{
standard.id = V4L2_STD_SECAM;
if (-1 == xioctl(VIDIOC_S_STD, &standard.id))
{
throw_errno_exception("VIDIOC_S_STD");
break;
}
Debug(_log, "Video standard=SECAM");
}
break;
case VIDEOSTANDARD_NO_CHANGE:
default:
// No change to device settings
break;
}
}
// get the current settings
struct v4l2_format fmt;
CLEAR(fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(VIDIOC_G_FMT, &fmt))
{
throw_errno_exception("VIDIOC_G_FMT");
return;
}
// set the requested pixel format
switch (_pixelFormat)
{
case PIXELFORMAT_UYVY:
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_UYVY;
break;
case PIXELFORMAT_YUYV:
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
break;
case PIXELFORMAT_RGB32:
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB32;
break;
#ifdef HAVE_JPEG_DECODER
case PIXELFORMAT_MJPEG:
{
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_MJPEG;
fmt.fmt.pix.field = V4L2_FIELD_ANY;
}
break;
#endif
case PIXELFORMAT_NO_CHANGE:
default:
// No change to device settings
break;
}
// set custom resolution for width and height if they are not zero
if(_width && _height)
{
fmt.fmt.pix.width = _width;
fmt.fmt.pix.height = _height;
}
// set the settings
if (-1 == xioctl(VIDIOC_S_FMT, &fmt))
{
throw_errno_exception("VIDIOC_S_FMT");
return;
}
// initialize current width and height
_width = fmt.fmt.pix.width;
_height = fmt.fmt.pix.height;
// display the used width and height
Debug(_log, "Set resolution to width=%d height=%d", _width, _height );
// Trying to set frame rate
struct v4l2_streamparm streamparms;
CLEAR(streamparms);
streamparms.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
// Check that the driver knows about framerate get/set
if (xioctl(VIDIOC_G_PARM, &streamparms) >= 0)
{
// Check if the device is able to accept a capture framerate set.
if (streamparms.parm.capture.capability == V4L2_CAP_TIMEPERFRAME)
{
streamparms.parm.capture.timeperframe.numerator = 1;
streamparms.parm.capture.timeperframe.denominator = _fps;
(-1 == xioctl(VIDIOC_S_PARM, &streamparms))
? Debug(_log, "Frame rate settings not supported.")
: Debug(_log, "Set framerate to %d fps", streamparms.parm.capture.timeperframe.denominator);
}
}
// set the line length
_lineLength = fmt.fmt.pix.bytesperline;
// check pixel format and frame size
switch (fmt.fmt.pix.pixelformat)
{
case V4L2_PIX_FMT_UYVY:
{
_pixelFormat = PIXELFORMAT_UYVY;
_frameByteSize = _width * _height * 2;
Debug(_log, "Pixel format=UYVY");
}
break;
case V4L2_PIX_FMT_YUYV:
{
_pixelFormat = PIXELFORMAT_YUYV;
_frameByteSize = _width * _height * 2;
Debug(_log, "Pixel format=YUYV");
}
break;
case V4L2_PIX_FMT_RGB32:
{
_pixelFormat = PIXELFORMAT_RGB32;
_frameByteSize = _width * _height * 4;
Debug(_log, "Pixel format=RGB32");
}
break;
#ifdef HAVE_JPEG_DECODER
case V4L2_PIX_FMT_MJPEG:
{
_pixelFormat = PIXELFORMAT_MJPEG;
Debug(_log, "Pixel format=MJPEG");
}
break;
#endif
default:
#ifdef HAVE_JPEG_DECODER
throw_exception("Only pixel formats UYVY, YUYV, RGB32 and MJPEG are supported");
#else
throw_exception("Only pixel formats UYVY, YUYV, and RGB32 are supported");
#endif
return;
}
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))
{
throw_errno_exception("munmap");
return;
}
}
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))
{
throw_errno_exception("VIDIOC_QBUF");
return;
}
}
v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(VIDIOC_STREAMON, &type))
{
throw_errno_exception("VIDIOC_STREAMON");
return;
}
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))
{
throw_errno_exception("VIDIOC_QBUF");
return;
}
}
v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(VIDIOC_STREAMON, &type))
{
throw_errno_exception("VIDIOC_STREAMON");
return;
}
break;
}
}
}
void V4L2Grabber::stop_capturing()
{
enum v4l2_buf_type type;
switch (_ioMethod)
{
case IO_METHOD_READ:
break; /* Nothing to do. */
case IO_METHOD_MMAP:
case IO_METHOD_USERPTR:
{
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
ErrorIf((xioctl(VIDIOC_STREAMOFF, &type) == -1), _log, "VIDIOC_STREAMOFF error code %d, %s", errno, strerror(errno));
}
break;
}
}
int V4L2Grabber::read_frame()
{
bool rc = false;
try
{
struct v4l2_buffer buf;
switch (_ioMethod)
{
case IO_METHOD_READ:
{
int size;
if ((size = read(_fileDescriptor, _buffers[0].start, _buffers[0].length)) == -1)
{
switch (errno)
{
case EAGAIN:
return 0;
case EIO: /* Could ignore EIO, see spec. */
default:
throw_errno_exception("read");
return 0;
}
}
rc = process_image(_buffers[0].start, size);
}
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. */
default:
{
throw_errno_exception("VIDIOC_DQBUF");
stop();
getV4Ldevices();
}
return 0;
}
}
assert(buf.index < _buffers.size());
rc = process_image(_buffers[buf.index].start, buf.bytesused);
if (-1 == xioctl(VIDIOC_QBUF, &buf))
{
throw_errno_exception("VIDIOC_QBUF");
return 0;
}
}
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. */
default:
{
throw_errno_exception("VIDIOC_DQBUF");
stop();
getV4Ldevices();
}
return 0;
}
}
for (size_t i = 0; i < _buffers.size(); ++i)
{
if (buf.m.userptr == (unsigned long)_buffers[i].start && buf.length == _buffers[i].length)
{
break;
}
}
rc = process_image((void *)buf.m.userptr, buf.bytesused);
if (-1 == xioctl(VIDIOC_QBUF, &buf))
{
throw_errno_exception("VIDIOC_QBUF");
return 0;
}
}
break;
}
}
catch (std::exception& e)
{
emit readError(e.what());
rc = false;
}
return rc ? 1 : 0;
}
bool V4L2Grabber::process_image(const void *p, int size)
{
// We do want a new frame...
#ifdef HAVE_JPEG_DECODER
if (size < _frameByteSize && _pixelFormat != PIXELFORMAT_MJPEG)
#else
if (size < _frameByteSize)
#endif
{
Error(_log, "Frame too small: %d != %d", size, _frameByteSize);
}
else
{
process_image(reinterpret_cast<const uint8_t *>(p), size);
return true;
}
return false;
}
void V4L2Grabber::process_image(const uint8_t * data, int size)
{
Image<ColorRgb> image(_width, _height);
/* ----------------------------------------------------------
* ----------- BEGIN of JPEG decoder related code -----------
* --------------------------------------------------------*/
#ifdef HAVE_JPEG_DECODER
if (_pixelFormat == PIXELFORMAT_MJPEG)
{
#endif
#ifdef HAVE_JPEG
_decompress = new jpeg_decompress_struct;
_error = new errorManager;
_decompress->err = jpeg_std_error(&_error->pub);
_error->pub.error_exit = &errorHandler;
_error->pub.output_message = &outputHandler;
jpeg_create_decompress(_decompress);
if (setjmp(_error->setjmp_buffer))
{
jpeg_abort_decompress(_decompress);
jpeg_destroy_decompress(_decompress);
delete _decompress;
delete _error;
return;
}
jpeg_mem_src(_decompress, const_cast<uint8_t*>(data), size);
if (jpeg_read_header(_decompress, (bool) TRUE) != JPEG_HEADER_OK)
{
jpeg_abort_decompress(_decompress);
jpeg_destroy_decompress(_decompress);
delete _decompress;
delete _error;
return;
}
_decompress->scale_num = 1;
_decompress->scale_denom = 1;
_decompress->out_color_space = JCS_RGB;
_decompress->dct_method = JDCT_IFAST;
if (!jpeg_start_decompress(_decompress))
{
jpeg_abort_decompress(_decompress);
jpeg_destroy_decompress(_decompress);
delete _decompress;
delete _error;
return;
}
if (_decompress->out_color_components != 3)
{
jpeg_abort_decompress(_decompress);
jpeg_destroy_decompress(_decompress);
delete _decompress;
delete _error;
return;
}
QImage imageFrame = QImage(_decompress->output_width, _decompress->output_height, QImage::Format_RGB888);
int y = 0;
while (_decompress->output_scanline < _decompress->output_height)
{
uchar *row = imageFrame.scanLine(_decompress->output_scanline);
jpeg_read_scanlines(_decompress, &row, 1);
y++;
}
jpeg_finish_decompress(_decompress);
jpeg_destroy_decompress(_decompress);
delete _decompress;
delete _error;
if (imageFrame.isNull() || _error->pub.num_warnings > 0)
return;
#endif
#ifdef HAVE_TURBO_JPEG
_decompress = tjInitDecompress();
if (_decompress == nullptr)
return;
if (tjDecompressHeader2(_decompress, const_cast<uint8_t*>(data), size, &_width, &_height, &_subsamp) != 0)
{
tjDestroy(_decompress);
return;
}
QImage imageFrame = QImage(_width, _height, QImage::Format_RGB888);
if (tjDecompress2(_decompress, const_cast<uint8_t*>(data), size, imageFrame.bits(), _width, 0, _height, TJPF_RGB, TJFLAG_FASTDCT | TJFLAG_FASTUPSAMPLE) != 0)
{
tjDestroy(_decompress);
return;
}
tjDestroy(_decompress);
if (imageFrame.isNull())
return;
#endif
#ifdef HAVE_JPEG_DECODER
QRect rect(_cropLeft, _cropTop, imageFrame.width() - _cropLeft - _cropRight, imageFrame.height() - _cropTop - _cropBottom);
imageFrame = imageFrame.copy(rect);
imageFrame = imageFrame.scaled(imageFrame.width() / _pixelDecimation, imageFrame.height() / _pixelDecimation,Qt::KeepAspectRatio);
if ((image.width() != unsigned(imageFrame.width())) || (image.height() != unsigned(imageFrame.height())))
image.resize(imageFrame.width(), imageFrame.height());
for (int y=0; y<imageFrame.height(); ++y)
for (int x=0; x<imageFrame.width(); ++x)
{
QColor inPixel(imageFrame.pixel(x,y));
ColorRgb & outPixel = image(x,y);
outPixel.red = inPixel.red();
outPixel.green = inPixel.green();
outPixel.blue = inPixel.blue();
}
}
else
#endif
/* ----------------------------------------------------------
* ------------ END of JPEG decoder related code ------------
* --------------------------------------------------------*/
_imageResampler.processImage(data, _width, _height, _lineLength, _pixelFormat, image);
if (_signalDetectionEnabled)
{
// check signal (only in center of the resulting image, because some grabbers have noise values along the borders)
bool noSignal = true;
// top left
unsigned xOffset = image.width() * _x_frac_min;
unsigned yOffset = image.height() * _y_frac_min;
// bottom right
unsigned xMax = image.width() * _x_frac_max;
unsigned yMax = image.height() * _y_frac_max;
for (unsigned x = xOffset; noSignal && x < xMax; ++x)
{
for (unsigned y = yOffset; noSignal && y < yMax; ++y)
{
noSignal &= (ColorRgb&)image(x, y) <= _noSignalThresholdColor;
}
}
if (noSignal)
{
++_noSignalCounter;
}
else
{
if (_noSignalCounter >= _noSignalCounterThreshold)
{
_noSignalDetected = true;
Info(_log, "Signal detected");
}
_noSignalCounter = 0;
}
if ( _noSignalCounter < _noSignalCounterThreshold)
{
emit newFrame(image);
}
else if (_noSignalCounter == _noSignalCounterThreshold)
{
_noSignalDetected = false;
Info(_log, "Signal lost");
}
}
else
{
emit newFrame(image);
}
}
int V4L2Grabber::xioctl(int request, void *arg)
{
int r;
do
{
r = ioctl(_fileDescriptor, request, arg);
}
while (-1 == r && EINTR == errno);
return r;
}
int V4L2Grabber::xioctl(int fileDescriptor, int request, void *arg)
{
int r;
do
{
r = ioctl(fileDescriptor, request, arg);
}
while (r < 0 && errno == EINTR );
return r;
}
void V4L2Grabber::enumFrameIntervals(QStringList &framerates, int fileDescriptor, int pixelformat, int width, int height)
{
// collect available frame rates
struct v4l2_frmivalenum frmivalenum;
CLEAR(frmivalenum);
frmivalenum.index = 0;
frmivalenum.pixel_format = pixelformat;
frmivalenum.width = width;
frmivalenum.height = height;
while (xioctl(fileDescriptor, VIDIOC_ENUM_FRAMEINTERVALS, &frmivalenum) >= 0)
{
int rate;
switch (frmivalenum.type)
{
case V4L2_FRMSIZE_TYPE_DISCRETE:
{
if (frmivalenum.discrete.numerator != 0)
{
rate = frmivalenum.discrete.denominator / frmivalenum.discrete.numerator;
if (!framerates.contains(QString::number(rate)))
framerates.append(QString::number(rate));
}
}
break;
case V4L2_FRMSIZE_TYPE_CONTINUOUS:
case V4L2_FRMSIZE_TYPE_STEPWISE:
{
if (frmivalenum.stepwise.min.denominator != 0)
{
rate = frmivalenum.stepwise.min.denominator / frmivalenum.stepwise.min.numerator;
if (!framerates.contains(QString::number(rate)))
framerates.append(QString::number(rate));
}
}
}
frmivalenum.index++;
}
}
void V4L2Grabber::setSignalDetectionEnable(bool enable)
{
if (_signalDetectionEnabled != enable)
{
_signalDetectionEnabled = enable;
Info(_log, "Signal detection is now %s", enable ? "enabled" : "disabled");
}
}
void V4L2Grabber::setPixelDecimation(int pixelDecimation)
{
if (_pixelDecimation != pixelDecimation)
{
_pixelDecimation = pixelDecimation;
_imageResampler.setHorizontalPixelDecimation(pixelDecimation);
_imageResampler.setVerticalPixelDecimation(pixelDecimation);
}
}
void V4L2Grabber::setDeviceVideoStandard(QString device, VideoStandard videoStandard)
{
if (_deviceName != device || _videoStandard != videoStandard)
{
// extract input of device
QChar input = device.at(device.size() - 1);
_input = input.isNumber() ? input.digitValue() : -1;
bool started = _initialized;
uninit();
_deviceName = device;
_videoStandard = videoStandard;
if(started) start();
}
}
bool V4L2Grabber::setInput(int input)
{
if(Grabber::setInput(input))
{
bool started = _initialized;
uninit();
if(started) start();
return true;
}
return false;
}
bool V4L2Grabber::setWidthHeight(int width, int height)
{
if(Grabber::setWidthHeight(width,height))
{
bool started = _initialized;
uninit();
if(started) start();
return true;
}
return false;
}
bool V4L2Grabber::setFramerate(int fps)
{
if(Grabber::setFramerate(fps))
{
bool started = _initialized;
uninit();
if(started) start();
return true;
}
return false;
}
QStringList V4L2Grabber::getV4L2devices()
{
QStringList result = QStringList();
for (auto it = _deviceProperties.begin(); it != _deviceProperties.end(); ++it)
{
result << it.key();
}
return result;
}
QString V4L2Grabber::getV4L2deviceName(QString devicePath)
{
return _deviceProperties.value(devicePath).name;
}
QMultiMap<QString, int> V4L2Grabber::getV4L2deviceInputs(QString devicePath)
{
return _deviceProperties.value(devicePath).inputs;
}
QStringList V4L2Grabber::getResolutions(QString devicePath)
{
return _deviceProperties.value(devicePath).resolutions;
}
QStringList V4L2Grabber::getFramerates(QString devicePath)
{
return _deviceProperties.value(devicePath).framerates;
}
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