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v4l2uvc.c
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/*******************************************************************************
# uvcview: Sdl video Usb Video Class grabber . #
#This package work with the Logitech UVC based webcams with the mjpeg feature. #
#All the decoding is in user space with the embedded jpeg decoder #
#. #
# Copyright (C) 2005 2006 Laurent Pinchart && Michel Xhaard #
# #
# This program is free software; you can redistribute it and/or modify #
# it under the terms of the GNU General Public License as published by #
# the Free Software Foundation; either version 2 of the License, or #
# (at your option) any later version. #
# #
# This program is distributed in the hope that it will be useful, #
# but WITHOUT ANY WARRANTY; without even the implied warranty of #
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
# GNU General Public License for more details. #
# #
# You should have received a copy of the GNU General Public License #
# along with this program; if not, write to the Free Software #
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA #
# #
*******************************************************************************/
#include <stdlib.h>
#include <math.h>
#include <float.h>
#include "v4l2uvc.h"
#include "utils.h"
#define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0]))
#define FOURCC_FORMAT "%c%c%c%c"
#define FOURCC_ARGS(c) (c) & 0xFF, ((c) >> 8) & 0xFF, ((c) >> 16) & 0xFF, ((c) >> 24) & 0xFF
static int debug = 0;
static int init_v4l2(struct vdIn *vd);
static int float_to_fraction_recursive(double f, double p, int *num, int *den)
{
int whole = (int)f;
f = fabs(f - whole);
if(f > p) {
int n, d;
int a = float_to_fraction_recursive(1 / f, p + p / f, &n, &d);
*num = d;
*den = d * a + n;
}
else {
*num = 0;
*den = 1;
}
return whole;
}
static void float_to_fraction(float f, int *num, int *den)
{
int whole = float_to_fraction_recursive(f, FLT_EPSILON, num, den);
*num += whole * *den;
}
int check_videoIn(struct vdIn *vd, char *device)
{
int ret;
if (vd == NULL || device == NULL)
return -1;
vd->videodevice = (char *) calloc(1, 16 * sizeof(char));
snprintf(vd->videodevice, 12, "%s", device);
printf("Device information:\n");
printf(" Device path: %s\n", vd->videodevice);
if ((vd->fd = open(vd->videodevice, O_RDWR)) == -1) {
perror("ERROR opening V4L interface");
exit(1);
}
memset(&vd->cap, 0, sizeof(struct v4l2_capability));
ret = ioctl(vd->fd, VIDIOC_QUERYCAP, &vd->cap);
if (ret < 0) {
printf("Error opening device %s: unable to query device.\n",
vd->videodevice);
goto fatal;
}
if ((vd->cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
printf("Error opening device %s: video capture not supported.\n",
vd->videodevice);
}
if (!(vd->cap.capabilities & V4L2_CAP_STREAMING)) {
printf("%s does not support streaming i/o\n", vd->videodevice);
}
if (!(vd->cap.capabilities & V4L2_CAP_READWRITE)) {
printf("%s does not support read i/o\n", vd->videodevice);
}
enum_frame_formats(vd->fd, NULL, 0);
fatal:
close(vd->fd);
free(vd->videodevice);
return 0;
}
int
init_videoIn(struct vdIn *vd, char *device, int width, int height, float fps,
int format, int grabmethod, char *avifilename)
{
int ret = -1;
int i;
if (vd == NULL || device == NULL)
return -1;
if (width == 0 || height == 0)
return -1;
if (grabmethod < 0 || grabmethod > 1)
grabmethod = 1; //mmap by default;
vd->videodevice = NULL;
vd->status = NULL;
vd->pictName = NULL;
vd->videodevice = (char *) calloc(1, 16 * sizeof(char));
vd->status = (char *) calloc(1, 100 * sizeof(char));
vd->pictName = (char *) calloc(1, 80 * sizeof(char));
snprintf(vd->videodevice, 12, "%s", device);
printf("Device information:\n");
printf(" Device path: %s\n", vd->videodevice);
vd->toggleAvi = 0;
vd->avifile = NULL;
vd->avifilename = avifilename;
vd->recordtime = 0;
vd->framecount = 0;
vd->recordstart = 0;
vd->getPict = 0;
vd->signalquit = 1;
vd->width = width;
vd->height = height;
vd->fps = fps;
vd->formatIn = format;
vd->grabmethod = grabmethod;
vd->fileCounter = 0;
vd->rawFrameCapture = 0;
vd->rfsBytesWritten = 0;
vd->rfsFramesWritten = 0;
vd->captureFile = NULL;
vd->bytesWritten = 0;
vd->framesWritten = 0;
if (init_v4l2(vd) < 0) {
printf(" Init v4L2 failed !! exit fatal\n");
goto error;;
}
/* alloc a temp buffer to reconstruct the pict */
vd->framesizeIn = (vd->width * vd->height << 1);
switch (vd->formatIn) {
case V4L2_PIX_FMT_MJPEG:
vd->tmpbuffer =
(unsigned char *) calloc(1, (size_t) vd->framesizeIn);
if (!vd->tmpbuffer)
goto error;
vd->framebuffer =
(unsigned char *) calloc(1,
(size_t) vd->width * (vd->height +
8) * 2);
break;
case V4L2_PIX_FMT_YUYV:
vd->framebuffer =
(unsigned char *) calloc(1, (size_t) vd->framesizeIn);
break;
default:
printf(" should never arrive exit fatal !!\n");
goto error;
break;
}
if (!vd->framebuffer)
goto error;
return 0;
error:
free(vd->videodevice);
free(vd->status);
free(vd->pictName);
close(vd->fd);
return -1;
}
int enum_controls(int vd) //struct vdIn *vd)
{
struct v4l2_queryctrl queryctrl;
struct v4l2_querymenu querymenu;
struct v4l2_control control_s;
struct v4l2_input* getinput;
//Name of the device
getinput=(struct v4l2_input *) calloc(1, sizeof(struct v4l2_input));
memset(getinput, 0, sizeof(struct v4l2_input));
getinput->index=0;
ioctl(vd,VIDIOC_ENUMINPUT , getinput);
printf ("Available controls of device '%s' (Type 1=Integer 2=Boolean 3=Menu 4=Button)\n", getinput->name);
//subroutine to read menu items of controls with type 3
void enumerate_menu (void) {
printf (" Menu items:\n");
memset (&querymenu, 0, sizeof (querymenu));
querymenu.id = queryctrl.id;
for (querymenu.index = queryctrl.minimum;
querymenu.index <= queryctrl.maximum;
querymenu.index++) {
if (0 == ioctl (vd, VIDIOC_QUERYMENU, &querymenu)) {
printf (" index:%d name:%s\n", querymenu.index, querymenu.name);
SDL_Delay(10);
} else {
printf ("error getting control menu");
break;
}
}
}
//predefined controls
printf ("V4L2_CID_BASE (predefined controls):\n");
memset (&queryctrl, 0, sizeof (queryctrl));
for (queryctrl.id = V4L2_CID_BASE;
queryctrl.id < V4L2_CID_LASTP1;
queryctrl.id++) {
if (0 == ioctl (vd, VIDIOC_QUERYCTRL, &queryctrl)) {
if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
continue;
control_s.id=queryctrl.id;
ioctl(vd, VIDIOC_G_CTRL, &control_s);
SDL_Delay(10);
printf (" index:%-10d name:%-32s type:%d min:%-5d max:%-5d step:%-5d def:%-5d now:%d\n",
queryctrl.id, queryctrl.name, queryctrl.type, queryctrl.minimum,
queryctrl.maximum, queryctrl.step, queryctrl.default_value, control_s.value);
if (queryctrl.type == V4L2_CTRL_TYPE_MENU)
enumerate_menu ();
} else {
if (errno == EINVAL)
continue;
perror ("error getting base controls");
goto fatal_controls;
}
}
//driver specific controls
printf ("V4L2_CID_PRIVATE_BASE (driver specific controls):\n");
for (queryctrl.id = V4L2_CID_PRIVATE_BASE;;
queryctrl.id++) {
if (0 == ioctl (vd, VIDIOC_QUERYCTRL, &queryctrl)) {
if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
continue;
control_s.id=queryctrl.id;
ioctl(vd, VIDIOC_G_CTRL, &control_s);
SDL_Delay(20);
printf (" index:%-10d name:%-32s type:%d min:%-5d max:%-5d step:%-5d def:%-5d now:%d\n",
queryctrl.id, queryctrl.name, queryctrl.type, queryctrl.minimum,
queryctrl.maximum, queryctrl.step, queryctrl.default_value, control_s.value);
if (queryctrl.type == V4L2_CTRL_TYPE_MENU)
enumerate_menu ();
} else {
if (errno == EINVAL)
break;
perror ("error getting private base controls");
goto fatal_controls;
}
}
return 0;
fatal_controls:
return -1;
}
int save_controls(int vd)
{
struct v4l2_queryctrl queryctrl;
struct v4l2_control control_s;
FILE *configfile;
memset (&queryctrl, 0, sizeof (queryctrl));
memset (&control_s, 0, sizeof (control_s));
configfile = fopen("luvcview.cfg", "w");
if ( configfile == NULL) {
perror("saving configfile luvcview.cfg failed");
}
else {
fprintf(configfile, "id value # luvcview control settings configuration file\n");
for (queryctrl.id = V4L2_CID_BASE;
queryctrl.id < V4L2_CID_LASTP1;
queryctrl.id++) {
if (0 == ioctl (vd, VIDIOC_QUERYCTRL, &queryctrl)) {
if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
continue;
control_s.id=queryctrl.id;
ioctl(vd, VIDIOC_G_CTRL, &control_s);
SDL_Delay(10);
fprintf (configfile, "%-10d %-10d # name:%-32s type:%d min:%-5d max:%-5d step:%-5d def:%d\n",
queryctrl.id, control_s.value, queryctrl.name, queryctrl.type, queryctrl.minimum,
queryctrl.maximum, queryctrl.step, queryctrl.default_value);
printf ("%-10d %-10d # name:%-32s type:%d min:%-5d max:%-5d step:%-5d def:%d\n",
queryctrl.id, control_s.value, queryctrl.name, queryctrl.type, queryctrl.minimum,
queryctrl.maximum, queryctrl.step, queryctrl.default_value);
SDL_Delay(10);
}
}
for (queryctrl.id = V4L2_CID_PRIVATE_BASE;;
queryctrl.id++) {
if (0 == ioctl (vd, VIDIOC_QUERYCTRL, &queryctrl)) {
if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
continue;
if ((queryctrl.id==134217735) || (queryctrl.id==134217736))
continue;
control_s.id=queryctrl.id;
ioctl(vd, VIDIOC_G_CTRL, &control_s);
SDL_Delay(10);
fprintf (configfile, "%-10d %-10d # name:%-32s type:%d min:%-5d max:%-5d step:%-5d def:%d\n",
queryctrl.id, control_s.value, queryctrl.name, queryctrl.type, queryctrl.minimum,
queryctrl.maximum, queryctrl.step, queryctrl.default_value);
printf ("%-10d %-10d # name:%-32s type:%d min:%-5d max:%-5d step:%-5d def:%d\n",
queryctrl.id, control_s.value, queryctrl.name, queryctrl.type, queryctrl.minimum,
queryctrl.maximum, queryctrl.step, queryctrl.default_value);
} else {
if (errno == EINVAL)
break;
}
}
fflush(configfile);
fclose(configfile);
SDL_Delay(100);
}
}
int load_controls(int vd) //struct vdIn *vd)
{
struct v4l2_control control;
FILE *configfile;
memset (&control, 0, sizeof (control));
configfile = fopen("luvcview.cfg", "r");
if ( configfile == NULL) {
perror("configfile luvcview.cfg open failed");
}
else {
printf("loading controls from luvcview.cfg\n");
char buffer[512];
fgets(buffer, sizeof(buffer), configfile);
while (NULL !=fgets(buffer, sizeof(buffer), configfile) )
{
sscanf(buffer, "%i%i", &control.id, &control.value);
if (ioctl(vd, VIDIOC_S_CTRL, &control))
printf("ERROR id:%d val:%d\n", control.id, control.value);
else
printf("OK id:%d val:%d\n", control.id, control.value);
SDL_Delay(20);
}
fclose(configfile);
}
}
static int init_v4l2(struct vdIn *vd)
{
int i;
int ret = 0;
if ((vd->fd = open(vd->videodevice, O_RDWR)) == -1) {
perror("ERROR opening V4L interface");
exit(1);
}
memset(&vd->cap, 0, sizeof(struct v4l2_capability));
ret = ioctl(vd->fd, VIDIOC_QUERYCAP, &vd->cap);
if (ret < 0) {
printf("Error opening device %s: unable to query device.\n",
vd->videodevice);
goto fatal;
}
if ((vd->cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
printf("Error opening device %s: video capture not supported.\n",
vd->videodevice);
goto fatal;;
}
if (vd->grabmethod) {
if (!(vd->cap.capabilities & V4L2_CAP_STREAMING)) {
printf("%s does not support streaming i/o\n", vd->videodevice);
goto fatal;
}
} else {
if (!(vd->cap.capabilities & V4L2_CAP_READWRITE)) {
printf("%s does not support read i/o\n", vd->videodevice);
goto fatal;
}
}
printf("Stream settings:\n");
// Enumerate the supported formats to check whether the requested one
// is available. If not, we try to fall back to YUYV.
unsigned int device_formats[16] = { 0 }; // Assume no device supports more than 16 formats
int requested_format_found = 0, fallback_format = -1;
if(enum_frame_formats(vd->fd, device_formats, ARRAY_SIZE(device_formats))) {
printf("Unable to enumerate frame formats");
goto fatal;
}
for(i = 0; i < ARRAY_SIZE(device_formats) && device_formats[i]; i++) {
if(device_formats[i] == vd->formatIn) {
requested_format_found = 1;
break;
}
if(device_formats[i] == V4L2_PIX_FMT_MJPEG || device_formats[i] == V4L2_PIX_FMT_YUYV)
fallback_format = i;
}
if(requested_format_found) {
// The requested format is supported
printf(" Frame format: "FOURCC_FORMAT"\n", FOURCC_ARGS(vd->formatIn));
}
else if(fallback_format >= 0) {
// The requested format is not supported but there's a fallback format
printf(" Frame format: "FOURCC_FORMAT" ("FOURCC_FORMAT
" is not supported by device)\n",
FOURCC_ARGS(device_formats[0]), FOURCC_ARGS(vd->formatIn));
vd->formatIn = device_formats[0];
}
else {
// The requested format is not supported and no fallback format is available
printf("ERROR: Requested frame format "FOURCC_FORMAT" is not available "
"and no fallback format was found.\n", FOURCC_ARGS(vd->formatIn));
goto fatal;
}
// Set pixel format and frame size
memset(&vd->fmt, 0, sizeof(struct v4l2_format));
vd->fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
vd->fmt.fmt.pix.width = vd->width;
vd->fmt.fmt.pix.height = vd->height;
vd->fmt.fmt.pix.pixelformat = vd->formatIn;
vd->fmt.fmt.pix.field = V4L2_FIELD_ANY;
ret = ioctl(vd->fd, VIDIOC_S_FMT, &vd->fmt);
if (ret < 0) {
perror("Unable to set format");
goto fatal;
}
if ((vd->fmt.fmt.pix.width != vd->width) ||
(vd->fmt.fmt.pix.height != vd->height)) {
printf(" Frame size: %ux%u (requested size %ux%u is not supported by device)\n",
vd->fmt.fmt.pix.width, vd->fmt.fmt.pix.height, vd->width, vd->height);
vd->width = vd->fmt.fmt.pix.width;
vd->height = vd->fmt.fmt.pix.height;
/* look the format is not part of the deal ??? */
//vd->formatIn = vd->fmt.fmt.pix.pixelformat;
}
else {
printf(" Frame size: %dx%d\n", vd->width, vd->height);
}
/* set framerate */
struct v4l2_streamparm* setfps;
setfps=(struct v4l2_streamparm *) calloc(1, sizeof(struct v4l2_streamparm));
memset(setfps, 0, sizeof(struct v4l2_streamparm));
setfps->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
// Convert the frame rate into a fraction for V4L2
int n = 0, d = 0;
float_to_fraction(vd->fps, &n, &d);
setfps->parm.capture.timeperframe.numerator = d;
setfps->parm.capture.timeperframe.denominator = n;
ret = ioctl(vd->fd, VIDIOC_S_PARM, setfps);
if(ret == -1) {
perror("Unable to set frame rate");
goto fatal;
}
ret = ioctl(vd->fd, VIDIOC_G_PARM, setfps);
if(ret == 0) {
float confirmed_fps = (float)setfps->parm.capture.timeperframe.denominator / (float)setfps->parm.capture.timeperframe.numerator;
if (confirmed_fps != (float)n / (float)d) {
printf(" Frame rate: %g fps (requested frame rate %g fps is "
"not supported by device)\n",
confirmed_fps,
vd->fps);
vd->fps = confirmed_fps;
}
else {
printf(" Frame rate: %g fps\n", vd->fps);
}
}
else {
perror("Unable to read out current frame rate");
goto fatal;
}
/* request buffers */
memset(&vd->rb, 0, sizeof(struct v4l2_requestbuffers));
vd->rb.count = NB_BUFFER;
vd->rb.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
vd->rb.memory = V4L2_MEMORY_MMAP;
ret = ioctl(vd->fd, VIDIOC_REQBUFS, &vd->rb);
if (ret < 0) {
perror("Unable to allocate buffers");
goto fatal;
}
/* map the buffers */
for (i = 0; i < NB_BUFFER; i++) {
memset(&vd->buf, 0, sizeof(struct v4l2_buffer));
vd->buf.index = i;
vd->buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
vd->buf.memory = V4L2_MEMORY_MMAP;
ret = ioctl(vd->fd, VIDIOC_QUERYBUF, &vd->buf);
if (ret < 0) {
perror("Unable to query buffer");
goto fatal;
}
if (debug)
printf("length: %u offset: %u\n", vd->buf.length,
vd->buf.m.offset);
vd->mem[i] = mmap(0 /* start anywhere */ ,
vd->buf.length, PROT_READ, MAP_SHARED, vd->fd,
vd->buf.m.offset);
if (vd->mem[i] == MAP_FAILED) {
perror("Unable to map buffer");
goto fatal;
}
if (debug)
printf("Buffer mapped at address %p.\n", vd->mem[i]);
}
/* Queue the buffers. */
for (i = 0; i < NB_BUFFER; ++i) {
memset(&vd->buf, 0, sizeof(struct v4l2_buffer));
vd->buf.index = i;
vd->buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
vd->buf.memory = V4L2_MEMORY_MMAP;
ret = ioctl(vd->fd, VIDIOC_QBUF, &vd->buf);
if (ret < 0) {
perror("Unable to queue buffer");
goto fatal;;
}
}
return 0;
fatal:
return -1;
}
static int video_enable(struct vdIn *vd)
{
int type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
int ret;
ret = ioctl(vd->fd, VIDIOC_STREAMON, &type);
if (ret < 0) {
perror("Unable to start capture");
return ret;
}
vd->isstreaming = 1;
return 0;
}
static int video_disable(struct vdIn *vd)
{
int type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
int ret;
ret = ioctl(vd->fd, VIDIOC_STREAMOFF, &type);
if (ret < 0) {
perror("Unable to stop capture");
return ret;
}
vd->isstreaming = 0;
return 0;
}
int uvcGrab(struct vdIn *vd)
{
#define HEADERFRAME1 0xaf
int ret;
if (!vd->isstreaming)
if (video_enable(vd))
goto err;
memset(&vd->buf, 0, sizeof(struct v4l2_buffer));
vd->buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
vd->buf.memory = V4L2_MEMORY_MMAP;
ret = ioctl(vd->fd, VIDIOC_DQBUF, &vd->buf);
if (ret < 0) {
perror("Unable to dequeue buffer");
goto err;
}
/* Capture a single raw frame */
if (vd->rawFrameCapture && vd->buf.bytesused > 0) {
FILE *frame = NULL;
char filename[13];
int ret;
/* Disable frame capturing unless we're in frame stream mode */
if(vd->rawFrameCapture == 1)
vd->rawFrameCapture = 0;
/* Create a file name and open the file */
sprintf(filename, "frame%03u.raw", vd->fileCounter++ % 1000);
frame = fopen(filename, "wb");
if(frame == NULL) {
perror("Unable to open file for raw frame capturing");
goto end_capture;
}
/* Write the raw data to the file */
ret = fwrite(vd->mem[vd->buf.index], vd->buf.bytesused, 1, frame);
if(ret < 1) {
perror("Unable to write to file");
goto end_capture;
}
printf("Saved raw frame to %s (%u bytes)\n", filename, vd->buf.bytesused);
if(vd->rawFrameCapture == 2) {
vd->rfsBytesWritten += vd->buf.bytesused;
vd->rfsFramesWritten++;
}
/* Clean up */
end_capture:
if(frame)
fclose(frame);
}
/* Capture raw stream data */
if (vd->captureFile && vd->buf.bytesused > 0) {
int ret;
ret = fwrite(vd->mem[vd->buf.index], vd->buf.bytesused, 1, vd->captureFile);
if (ret < 1) {
perror("Unable to write raw stream to file");
fprintf(stderr, "Stream capturing terminated.\n");
fclose(vd->captureFile);
vd->captureFile = NULL;
vd->framesWritten = 0;
vd->bytesWritten = 0;
} else {
vd->framesWritten++;
vd->bytesWritten += vd->buf.bytesused;
if (debug)
printf("Appended raw frame to stream file (%u bytes)\n", vd->buf.bytesused);
}
}
switch (vd->formatIn) {
case V4L2_PIX_FMT_MJPEG:
if(vd->buf.bytesused <= HEADERFRAME1) { /* Prevent crash on empty image */
/* if(debug)*/
printf("Ignoring empty buffer ...\n");
return 0;
}
memcpy(vd->tmpbuffer, vd->mem[vd->buf.index],vd->buf.bytesused);
/* avi recording is toggled on */
if (vd->toggleAvi) {
/* if vd->avifile is NULL, then we need to initialize it */
if (vd->avifile == NULL) {
vd->avifile = AVI_open_output_file(vd->avifilename);
/* if avifile is NULL, there was an error */
if (vd->avifile == NULL ) {
fprintf(stderr,"Error opening avifile %s\n",vd->avifilename);
}
else {
/* we default the fps to 15, we'll reset it on close */
AVI_set_video(vd->avifile, vd->width, vd->height,
15, "MJPG");
printf("recording to %s\n",vd->avifilename);
}
} else {
/* if we have a valid avifile, record the frame to it */
AVI_write_frame(vd->avifile, vd->tmpbuffer,
vd->buf.bytesused, vd->framecount);
vd->framecount++;
}
}
if (jpeg_decode(&vd->framebuffer, vd->tmpbuffer, &vd->width,
&vd->height) < 0) {
printf("jpeg decode errors\n");
goto err;
}
if (debug)
printf("bytes in used %d\n", vd->buf.bytesused);
break;
case V4L2_PIX_FMT_YUYV:
if (vd->buf.bytesused > vd->framesizeIn)
memcpy(vd->framebuffer, vd->mem[vd->buf.index],
(size_t) vd->framesizeIn);
else
memcpy(vd->framebuffer, vd->mem[vd->buf.index],
(size_t) vd->buf.bytesused);
break;
default:
goto err;
break;
}
ret = ioctl(vd->fd, VIDIOC_QBUF, &vd->buf);
if (ret < 0) {
perror("Unable to requeue buffer");
goto err;
}
return 0;
err:
vd->signalquit = 0;
return -1;
}
int close_v4l2(struct vdIn *vd)
{
if (vd->isstreaming)
video_disable(vd);
if (vd->tmpbuffer)
free(vd->tmpbuffer);
vd->tmpbuffer = NULL;
free(vd->framebuffer);
vd->framebuffer = NULL;
free(vd->videodevice);
free(vd->status);
free(vd->pictName);
vd->videodevice = NULL;
vd->status = NULL;
vd->pictName = NULL;
}
/* return >= 0 ok otherwhise -1 */
static int isv4l2Control(struct vdIn *vd, int control,
struct v4l2_queryctrl *queryctrl)
{
int err =0;
queryctrl->id = control;
if ((err= ioctl(vd->fd, VIDIOC_QUERYCTRL, queryctrl)) < 0) {
perror("ioctl querycontrol error");
} else if (queryctrl->flags & V4L2_CTRL_FLAG_DISABLED) {
printf("control %s disabled\n", (char *) queryctrl->name);
} else if (queryctrl->flags & V4L2_CTRL_TYPE_BOOLEAN) {
return 1;
} else if (queryctrl->type & V4L2_CTRL_TYPE_INTEGER) {
return 0;
} else {
printf("contol %s unsupported\n", (char *) queryctrl->name);
}
return -1;
}
int v4l2GetControl(struct vdIn *vd, int control)
{
struct v4l2_queryctrl queryctrl;
struct v4l2_control control_s;
int err;
if (isv4l2Control(vd, control, &queryctrl) < 0)
return -1;
control_s.id = control;
if ((err = ioctl(vd->fd, VIDIOC_G_CTRL, &control_s)) < 0) {
printf("ioctl get control error\n");
return -1;
}
return control_s.value;
}
int v4l2SetControl(struct vdIn *vd, int control, int value)
{
struct v4l2_control control_s;
struct v4l2_queryctrl queryctrl;
int min, max, step, val_def;
int err;
if (isv4l2Control(vd, control, &queryctrl) < 0)
return -1;
min = queryctrl.minimum;
max = queryctrl.maximum;
step = queryctrl.step;
val_def = queryctrl.default_value;
if ((value >= min) && (value <= max)) {
control_s.id = control;
control_s.value = value;
if ((err = ioctl(vd->fd, VIDIOC_S_CTRL, &control_s)) < 0) {
printf("ioctl set control error\n");
return -1;
}
}
return 0;
}
int v4l2UpControl(struct vdIn *vd, int control)
{
struct v4l2_control control_s;
struct v4l2_queryctrl queryctrl;
int min, max, current, step, val_def;
int err;
if (isv4l2Control(vd, control, &queryctrl) < 0)
return -1;
min = queryctrl.minimum;
max = queryctrl.maximum;
step = queryctrl.step;
val_def = queryctrl.default_value;
current = v4l2GetControl(vd, control);
current += step;
printf("max %d, min %d, step %d, default %d ,current %d\n",max,min,step,val_def,current);
if (current <= max) {
control_s.id = control;
control_s.value = current;
if ((err = ioctl(vd->fd, VIDIOC_S_CTRL, &control_s)) < 0) {
printf("ioctl set control error\n");
return -1;
}
printf ("Control name:%s set to value:%d\n", queryctrl.name, control_s.value);
} else {
printf ("Control name:%s already has max value:%d\n", queryctrl.name, max);
}
return control_s.value;
}
int v4l2DownControl(struct vdIn *vd, int control)
{
struct v4l2_control control_s;
struct v4l2_queryctrl queryctrl;
int min, max, current, step, val_def;
int err;
if (isv4l2Control(vd, control, &queryctrl) < 0)
return -1;
min = queryctrl.minimum;
max = queryctrl.maximum;
step = queryctrl.step;
val_def = queryctrl.default_value;
current = v4l2GetControl(vd, control);
current -= step;
printf("max %d, min %d, step %d, default %d ,current %d\n",max,min,step,val_def,current);
if (current >= min) {
control_s.id = control;
control_s.value = current;
if ((err = ioctl(vd->fd, VIDIOC_S_CTRL, &control_s)) < 0) {
printf("ioctl set control error\n");
return -1;
}
printf ("Control name:%s set to value:%d\n", queryctrl.name, control_s.value);
}
else {
printf ("Control name:%s already has min value:%d\n", queryctrl.name, min);
}
return control_s.value;
}
int v4l2ToggleControl(struct vdIn *vd, int control)
{
struct v4l2_control control_s;
struct v4l2_queryctrl queryctrl;
int current;
int err;
if (isv4l2Control(vd, control, &queryctrl) != 1)
return -1;
current = v4l2GetControl(vd, control);
control_s.id = control;
control_s.value = !current;
if ((err = ioctl(vd->fd, VIDIOC_S_CTRL, &control_s)) < 0) {
printf("ioctl toggle control error\n");
return -1;
}
return control_s.value;
}
int v4l2ResetControl(struct vdIn *vd, int control)
{
struct v4l2_control control_s;
struct v4l2_queryctrl queryctrl;
int val_def;
int err;
if (isv4l2Control(vd, control, &queryctrl) < 0)
return -1;
val_def = queryctrl.default_value;
control_s.id = control;
control_s.value = val_def;
if ((err = ioctl(vd->fd, VIDIOC_S_CTRL, &control_s)) < 0) {
printf("ioctl reset control error\n");
return -1;
}
return 0;
}
int v4l2ResetPan(struct vdIn *vd)
{
int control = V4L2_CID_PAN_RESET;
struct v4l2_control control_s;
struct v4l2_queryctrl queryctrl;
int err;
if (isv4l2Control(vd, control, &queryctrl) < 0)
return -1;
control_s.id = control;
control_s.value = 1;
if ((err = ioctl(vd->fd, VIDIOC_S_CTRL, &control_s)) < 0) {
printf("ERROR: Unable to reset pan (error = %d)\n", errno);
return -1;
}
return 0;
}
int v4l2ResetTilt(struct vdIn *vd)
{
int control = V4L2_CID_TILT_RESET;
struct v4l2_control control_s;
struct v4l2_queryctrl queryctrl;
int err;
if (isv4l2Control(vd, control, &queryctrl) < 0)
return -1;
control_s.id = control;
control_s.value = 1;
if ((err = ioctl(vd->fd, VIDIOC_S_CTRL, &control_s)) < 0) {
printf("ERROR: Unable to reset tilt (error = %d)\n", errno);
return -1;
}
return 0;
}
int v4l2ResetPanTilt(struct vdIn *vd)
{
int control = V4L2_CID_PANTILT_RESET;
struct v4l2_control control_s;
struct v4l2_queryctrl queryctrl;
unsigned char val;
int err;
if (isv4l2Control(vd, control, &queryctrl) < 0)
return -1;
control_s.id = control;
control_s.value = 3;
if ((err = ioctl(vd->fd, VIDIOC_S_CTRL, &control_s)) < 0) {
printf("ERROR: Unable to reset pan/tilt (error = %d)\n", errno);
return -1;
}
return 0;
}
int v4L2UpDownPan(struct vdIn *vd, short inc)
{
int control = V4L2_CID_PAN_RELATIVE;
struct v4l2_control control_s;
struct v4l2_queryctrl queryctrl;
int err;
if (isv4l2Control(vd, control, &queryctrl) < 0)
return -1;
control_s.id = control;
control_s.value = inc;
if ((err = ioctl(vd->fd, VIDIOC_S_CTRL, &control_s)) < 0) {
printf("ioctl pan updown control error\n");
return -1;
}
return 0;
}
int v4L2UpDownTilt(struct vdIn *vd, short inc)
{ int control = V4L2_CID_TILT_RELATIVE;
struct v4l2_control control_s;
struct v4l2_queryctrl queryctrl;
int err;
if (isv4l2Control(vd, control, &queryctrl) < 0)
return -1;
control_s.id = control;
control_s.value = inc;
if ((err = ioctl(vd->fd, VIDIOC_S_CTRL, &control_s)) < 0) {
printf("ioctl tiltupdown control error\n");
return -1;
}
return 0;
}
int v4L2UpDownPanTilt(struct vdIn *vd, short inc_p, short inc_t) {
int p_control = V4L2_CID_PAN_RELATIVE;
int t_control = V4L2_CID_TILT_RELATIVE;
struct v4l2_ext_controls control_s_array;
struct v4l2_queryctrl queryctrl;
struct v4l2_ext_control control_s[2];
int err;
if(isv4l2Control(vd, p_control, &queryctrl) < 0 ||
isv4l2Control(vd, t_control, &queryctrl) < 0)
return -1;
control_s_array.count = 2;
control_s_array.ctrl_class = V4L2_CTRL_CLASS_USER;
control_s_array.reserved[0] = 0;
control_s_array.reserved[1] = 0;
control_s_array.controls = control_s;
control_s[0].id = p_control;
control_s[0].value = inc_p;
control_s[1].id = t_control;
control_s[1].value = inc_t;
if ((err = ioctl(vd->fd, VIDIOC_S_EXT_CTRLS, &control_s_array)) < 0) {
printf("ioctl pan-tilt updown control error\n");
return -1;
}
return 0;
}
#if 0
union pantilt {
struct {
short pan;
short tilt;
} s16;
int value;
} __attribute__((packed)) ;
int v4L2UpDownPan(struct vdIn *vd, short inc)