xiaoxiang781216 commented on code in PR #7798: URL: https://github.com/apache/nuttx/pull/7798#discussion_r1040857456
########## arch/sim/src/sim/sim_video_host.h: ########## @@ -0,0 +1,50 @@ +/**************************************************************************** + * arch/sim/src/sim/sim_video_host.h + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +#ifndef __ARCH_SIM_SRC_SIM_UP_VIDEO_HOST_H +#define __ARCH_SIM_SRC_SIM_UP_VIDEO_HOST_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <errno.h> +#include <stdbool.h> +#include <stdint.h> +#include <linux/videodev2.h> + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +bool video_host_is_available(const char *video_host_dev_path); +int video_host_init(const char *video_host_dev_path); Review Comment: change all video_host_ to host_video_ ########## arch/sim/src/sim/posix/sim_video_host.c: ########## @@ -0,0 +1,350 @@ +/**************************************************************************** + * arch/sim/src/sim/posix/sim_video_host.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <errno.h> +#include <fcntl.h> +#include <stdbool.h> +#include <stdio.h> +#include <stdlib.h> +#include <stdint.h> +#include <string.h> +#include <syslog.h> +#include <unistd.h> +#include <linux/videodev2.h> +#include <sys/mman.h> +#include <sys/ioctl.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define MAX_REQBUFS 3 +#define WARN(fmt, ...) \ + syslog(LOG_WARNING, "sim_video_host: " fmt "\n", ##__VA_ARGS__) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct +{ + int fd; + struct v4l2_requestbuffers reqbuf; + void *addrs[MAX_REQBUFS]; + size_t buflen[MAX_REQBUFS]; +} video_host_dev_t; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static video_host_dev_t priv; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int xioctl(int fd, int request, void *arg) Review Comment: host_video_ioctl ########## arch/sim/src/sim/posix/sim_video_host.c: ########## @@ -0,0 +1,350 @@ +/**************************************************************************** + * arch/sim/src/sim/posix/sim_video_host.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <errno.h> +#include <fcntl.h> +#include <stdbool.h> +#include <stdio.h> +#include <stdlib.h> +#include <stdint.h> +#include <string.h> +#include <syslog.h> +#include <unistd.h> +#include <linux/videodev2.h> +#include <sys/mman.h> +#include <sys/ioctl.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define MAX_REQBUFS 3 +#define WARN(fmt, ...) \ + syslog(LOG_WARNING, "sim_video_host: " fmt "\n", ##__VA_ARGS__) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct +{ + int fd; + struct v4l2_requestbuffers reqbuf; + void *addrs[MAX_REQBUFS]; + size_t buflen[MAX_REQBUFS]; +} video_host_dev_t; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static video_host_dev_t priv; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int xioctl(int fd, int request, void *arg) +{ + int r; + do + { + r = ioctl(fd, request, arg); + } + while (-1 == r && EINTR == errno); + + return r; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +bool video_host_is_available(const char *video_host_dev_path) +{ + if (access(video_host_dev_path, F_OK) == 0) + { + return true; + } + + return false; +} + +int video_host_init(const char *video_host_dev_path) +{ + int fd = open(video_host_dev_path, O_RDWR | O_NONBLOCK); + if (fd < 0) + { + perror(video_host_dev_path); + return -errno; + } + + memset(&priv, 0, sizeof(priv)); + priv.fd = fd; + return 0; +} + +int video_host_dq_buf(uint8_t *addr, uint32_t size) +{ + struct v4l2_buffer buf; + + memset(&buf, 0, sizeof(buf)); + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + + /* Dequeue a buffer */ + + if (-1 == xioctl(priv.fd, VIDIOC_DQBUF, &buf)) + { + switch (errno) + { + case EAGAIN: + + /* No buffer in the outgoing queue */ + + return 0; + case EIO: + + /* fall through */ + + default: + perror("VIDIOC_DQBUF"); + return -errno; + } + } + + if (size > buf.bytesused) + { + size = buf.bytesused; + } + + memcpy(addr, priv.addrs[buf.index], size); + if (-1 == ioctl(priv.fd, VIDIOC_QBUF, &buf)) + { + perror("VIDIOC_QBUF"); + return -errno; + } + + return size; +} + +int video_host_uninit(void) +{ + close(priv.fd); + return 0; +} + +int video_host_data_init(void) +{ + return 0; +} + +int video_host_start_capture(void) +{ + struct v4l2_buffer buf; + int i; + + /* VIDIOC_REQBUFS initiate user pointer I/O */ + + priv.reqbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + priv.reqbuf.memory = V4L2_MEMORY_MMAP; + priv.reqbuf.count = MAX_REQBUFS; + + if (-1 == xioctl(priv.fd, VIDIOC_REQBUFS, &priv.reqbuf)) + { + perror("VIDIOC_REQBUFS"); + return -errno; + } + + if (priv.reqbuf.count < 2) + { + errno = ENOMEM; + perror("Not enough buffers"); + return -ENOMEM; + } + + for (i = 0; i < priv.reqbuf.count; i++) + { + memset(&buf, 0, sizeof(buf)); + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + buf.index = i; + if (-1 == xioctl(priv.fd, VIDIOC_QUERYBUF, &buf)) + { + perror("VIDIOC_QUERYBUF"); + return -errno; + } + + priv.addrs[i] = mmap(NULL, buf.length, PROT_READ | PROT_WRITE, + MAP_SHARED, priv.fd, buf.m.offset); + priv.buflen[i] = buf.length; + if (priv.addrs[i] == MAP_FAILED) + { + perror("Mmap failed"); + return -errno; + } + + if (-1 == xioctl(priv.fd, VIDIOC_QBUF, &buf)) + { + perror("VIDIOC_QBUF"); + return -errno; + } + } + + enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE; Review Comment: move to the function beginning ########## arch/sim/Kconfig: ########## @@ -265,6 +265,33 @@ endchoice endif +config SIM_VIDEO + bool "Simulated video support" + depends on VIDEO + default y + +if SIM_VIDEO + +choice + prompt "Simulated video device type" + default SIM_VIDEO_V4L2 + +config SIM_VIDEO_V4L2 + bool "V4L2 camera support on sim" + depends on HOST_LINUX + +endchoice + +config HOST_VIDEO_DEV_PATH + string "Host video device path" + default "/dev/video0" + +config VIDEO_DEV_PATH Review Comment: no user ########## arch/sim/src/Makefile: ########## @@ -204,6 +204,12 @@ ifeq ($(CONFIG_SIM_SOUND_ALSA),y) STDLIBS += -lmad endif +ifeq ($(CONFIG_SIM_VIDEO_V4L2),y) + HOSTSRCS += sim_video_host.c Review Comment: sim_host_v4l2.c ########## arch/sim/src/sim/sim_video.c: ########## @@ -0,0 +1,354 @@ +/**************************************************************************** + * arch/sim/src/sim/sim_video.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <assert.h> +#include <debug.h> +#include <errno.h> +#include <fcntl.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <arch/board/board.h> +#include <nuttx/config.h> +#include <nuttx/semaphore.h> +#include <nuttx/signal.h> +#include <nuttx/video/imgsensor.h> +#include <nuttx/video/imgdata.h> +#include <sys/mman.h> +#include <sys/time.h> +#include <sys/ioctl.h> + +#include "sim_video_host.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define HOST_VIDEO_DEV_PATH CONFIG_HOST_VIDEO_DEV_PATH +#define ENQUEUE(q, addr, size) (q).addr[q.num] = addr; \ + (q).size[q.num++] = size; + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct +{ + imgdata_capture_t capture_cb; + uint32_t buf_size; + uintptr_t next_buf; + bool is_streaming; +} video_priv_t; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/* video image sensor operations */ + +static bool sim_video_is_available(void); +static int sim_video_init(void); +static int sim_video_uninit(void); +static FAR const char *sim_video_get_driver_name(void); +static int sim_video_validate_frame_setting(imgsensor_stream_type_t type, + uint8_t nr_datafmt, + FAR imgsensor_format_t *datafmts, + FAR imgsensor_interval_t *interval); +static int sim_video_start_capture(imgsensor_stream_type_t type, + uint8_t nr_datafmt, + FAR imgsensor_format_t *datafmts, + FAR imgsensor_interval_t *interval); +static int sim_video_stop_capture(imgsensor_stream_type_t type); +static int sim_video_get_supported_value(uint32_t id, + FAR imgsensor_supported_value_t *value); +static int sim_video_get_value(uint32_t id, uint32_t size, + FAR imgsensor_value_t *value); +static int sim_video_set_value(uint32_t id, uint32_t size, + imgsensor_value_t value); + +/* video image data operations */ + +static int sim_video_data_init(void); +static int sim_video_data_uninit(void); +static int sim_video_data_validate_frame_setting + (uint8_t nr_datafmt, + imgdata_format_t *datafmt, + imgdata_interval_t *interval); +static int sim_video_data_start_capture + (uint8_t nr_datafmt, + imgdata_format_t *datafmt, + imgdata_interval_t *interval, + imgdata_capture_t callback); +static int sim_video_data_stop_capture(void); +static int sim_video_data_validate_buf(uint8_t *addr, uint32_t size); +static int sim_video_data_set_buf(uint8_t *addr, uint32_t size); + +static uint32_t imgsensor_fmt_to_v4l2(uint32_t pixelformat); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static struct imgsensor_ops_s g_sim_video_ops = +{ + .is_available = sim_video_is_available, + .init = sim_video_init, + .uninit = sim_video_uninit, + .get_driver_name = sim_video_get_driver_name, + .validate_frame_setting = sim_video_validate_frame_setting, + .start_capture = sim_video_start_capture, + .stop_capture = sim_video_stop_capture, + .get_supported_value = sim_video_get_supported_value, + .get_value = sim_video_get_value, + .set_value = sim_video_set_value, +}; + +static struct imgdata_ops_s g_sim_video_data_ops = + { + .init = sim_video_data_init, + .uninit = sim_video_data_uninit, + .validate_buf = sim_video_data_validate_buf, + .set_buf = sim_video_data_set_buf, + .validate_frame_setting = sim_video_data_validate_frame_setting, + .start_capture = sim_video_data_start_capture, + .stop_capture = sim_video_data_stop_capture, + }; + +static video_priv_t priv; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static bool sim_video_is_available(void) +{ + return video_host_is_available(HOST_VIDEO_DEV_PATH); +} + +static int sim_video_init(void) +{ + return video_host_init(HOST_VIDEO_DEV_PATH); +} + +static int sim_video_uninit(void) +{ + return video_host_uninit(); +} + +static FAR const char *sim_video_get_driver_name(void) +{ + return "V4L2 NuttX Sim Driver"; +} + +static int sim_video_get_supported_value(uint32_t id, + FAR imgsensor_supported_value_t *value) +{ + return 0; +} + +static int sim_video_get_value(uint32_t id, uint32_t size, + FAR imgsensor_value_t *value) +{ + return 0; +} + +static int sim_video_set_value(uint32_t id, uint32_t size, + imgsensor_value_t value) +{ + return 0; +} + +static int validate_format(imgsensor_stream_type_t type, int nr_fmt, + FAR imgsensor_format_t *fmt, FAR imgsensor_interval_t *interval) +{ + if (nr_fmt > 1) + { + return -ENOTSUP; + } + + uint32_t v4l2_fmt = imgsensor_fmt_to_v4l2(fmt->pixelformat); + if (type == IMGSENSOR_STREAM_TYPE_VIDEO) + { + return video_host_try_fmt(fmt->width, fmt->height, + v4l2_fmt, interval->denominator, interval->numerator); + } + else + { + return video_host_try_fmt(fmt->width, fmt->height, v4l2_fmt, 0, 0); + } +} + +static int sim_video_validate_frame_setting(imgsensor_stream_type_t type, + uint8_t nr_fmt, + FAR imgsensor_format_t *fmt, + FAR imgsensor_interval_t *interval) +{ + return validate_format(type, nr_fmt, fmt, interval); +} + +static int sim_video_start_capture(imgsensor_stream_type_t type, + uint8_t nr_fmt, + FAR imgsensor_format_t *fmt, + FAR imgsensor_interval_t *interval) +{ + return video_host_set_fmt(fmt[IMGDATA_FMT_MAIN].width, + fmt[IMGDATA_FMT_MAIN].height, + imgsensor_fmt_to_v4l2(fmt[IMGDATA_FMT_MAIN].pixelformat), + interval->denominator, interval->numerator); +} + +static int sim_video_stop_capture(imgsensor_stream_type_t type) +{ + return 0; +} + +static int sim_video_data_init() +{ + memset(&priv, 0, sizeof(priv)); + return video_host_data_init(); +} + +static int sim_video_data_uninit() +{ + return 0; +} + +static int sim_video_data_validate_frame_setting + (uint8_t nr_datafmt, + imgdata_format_t *datafmt, + imgdata_interval_t *interval) +{ + return 0; +} + +static int sim_video_data_start_capture + (uint8_t nr_datafmt, + imgdata_format_t *datafmt, + imgdata_interval_t *interval, + imgdata_capture_t callback) +{ + int ret; + + priv.capture_cb = callback; + ret = video_host_start_capture(); + if (ret < 0) + { + return ret; + } + + priv.is_streaming = true; + return 0; +} + +static int sim_video_data_stop_capture() +{ + priv.is_streaming = false; + return video_host_stop_capture(); +} + +static int sim_video_data_validate_buf(uint8_t *addr, uint32_t size) +{ + if (!addr || (uintptr_t)(addr) & 0x1f) + { + return -EINVAL; + } + + return 0; +} + +static int sim_video_data_set_buf(uint8_t *addr, uint32_t size) +{ + priv.next_buf = (uintptr_t)addr; + priv.buf_size = size; + return 0; +} + +static uint32_t imgsensor_fmt_to_v4l2(uint32_t pixelformat) +{ + uint32_t fourcc; + switch (pixelformat) + { + case IMGSENSOR_PIX_FMT_YUV420P: + fourcc = V4L2_PIX_FMT_YUV420; + break; + + case IMGSENSOR_PIX_FMT_YUYV: + fourcc = V4L2_PIX_FMT_YUYV; + break; + + case IMGSENSOR_PIX_FMT_JPEG_WITH_SUBIMG: + fourcc = V4L2_PIX_FMT_JPEG; + break; + + case IMGSENSOR_PIX_FMT_JPEG: + fourcc = V4L2_PIX_FMT_JPEG; + break; + + case IMGSENSOR_PIX_FMT_RGB565: + fourcc = V4L2_PIX_FMT_RGB565; + break; + + case IMGSENSOR_PIX_FMT_UYVY: + fourcc = V4L2_PIX_FMT_UYVY; + break; + + default: + + /* Unsupported format */ + + fourcc = 0; + } + + return fourcc; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int sim_video_initialize(void) +{ + imgsensor_register(&g_sim_video_ops); + imgdata_register(&g_sim_video_data_ops); + return 0; +} + +int sim_video_uninitialize(void) +{ + return 0; +} + +void sim_video_loop(void) +{ + int ret; + + if (priv.is_streaming && priv.next_buf) Review Comment: remove is_streaming, it's enough to check next_buf ########## arch/sim/src/sim/sim_video.c: ########## @@ -0,0 +1,354 @@ +/**************************************************************************** + * arch/sim/src/sim/sim_video.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <assert.h> +#include <debug.h> +#include <errno.h> +#include <fcntl.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <arch/board/board.h> +#include <nuttx/config.h> +#include <nuttx/semaphore.h> +#include <nuttx/signal.h> +#include <nuttx/video/imgsensor.h> +#include <nuttx/video/imgdata.h> +#include <sys/mman.h> +#include <sys/time.h> +#include <sys/ioctl.h> + +#include "sim_video_host.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define HOST_VIDEO_DEV_PATH CONFIG_HOST_VIDEO_DEV_PATH +#define ENQUEUE(q, addr, size) (q).addr[q.num] = addr; \ + (q).size[q.num++] = size; + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct +{ + imgdata_capture_t capture_cb; + uint32_t buf_size; + uintptr_t next_buf; + bool is_streaming; +} video_priv_t; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/* video image sensor operations */ + +static bool sim_video_is_available(void); +static int sim_video_init(void); +static int sim_video_uninit(void); +static FAR const char *sim_video_get_driver_name(void); +static int sim_video_validate_frame_setting(imgsensor_stream_type_t type, + uint8_t nr_datafmt, + FAR imgsensor_format_t *datafmts, + FAR imgsensor_interval_t *interval); +static int sim_video_start_capture(imgsensor_stream_type_t type, + uint8_t nr_datafmt, + FAR imgsensor_format_t *datafmts, + FAR imgsensor_interval_t *interval); +static int sim_video_stop_capture(imgsensor_stream_type_t type); +static int sim_video_get_supported_value(uint32_t id, + FAR imgsensor_supported_value_t *value); +static int sim_video_get_value(uint32_t id, uint32_t size, + FAR imgsensor_value_t *value); +static int sim_video_set_value(uint32_t id, uint32_t size, + imgsensor_value_t value); + +/* video image data operations */ + +static int sim_video_data_init(void); +static int sim_video_data_uninit(void); +static int sim_video_data_validate_frame_setting + (uint8_t nr_datafmt, + imgdata_format_t *datafmt, + imgdata_interval_t *interval); +static int sim_video_data_start_capture + (uint8_t nr_datafmt, + imgdata_format_t *datafmt, + imgdata_interval_t *interval, + imgdata_capture_t callback); +static int sim_video_data_stop_capture(void); +static int sim_video_data_validate_buf(uint8_t *addr, uint32_t size); +static int sim_video_data_set_buf(uint8_t *addr, uint32_t size); + +static uint32_t imgsensor_fmt_to_v4l2(uint32_t pixelformat); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static struct imgsensor_ops_s g_sim_video_ops = Review Comment: add const ########## arch/sim/src/sim/sim_video.c: ########## @@ -0,0 +1,354 @@ +/**************************************************************************** + * arch/sim/src/sim/sim_video.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <assert.h> +#include <debug.h> +#include <errno.h> +#include <fcntl.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <arch/board/board.h> +#include <nuttx/config.h> +#include <nuttx/semaphore.h> +#include <nuttx/signal.h> +#include <nuttx/video/imgsensor.h> +#include <nuttx/video/imgdata.h> +#include <sys/mman.h> +#include <sys/time.h> +#include <sys/ioctl.h> + +#include "sim_video_host.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define HOST_VIDEO_DEV_PATH CONFIG_HOST_VIDEO_DEV_PATH +#define ENQUEUE(q, addr, size) (q).addr[q.num] = addr; \ + (q).size[q.num++] = size; + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct +{ + imgdata_capture_t capture_cb; + uint32_t buf_size; + uintptr_t next_buf; + bool is_streaming; +} video_priv_t; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/* video image sensor operations */ + +static bool sim_video_is_available(void); +static int sim_video_init(void); +static int sim_video_uninit(void); +static FAR const char *sim_video_get_driver_name(void); +static int sim_video_validate_frame_setting(imgsensor_stream_type_t type, + uint8_t nr_datafmt, + FAR imgsensor_format_t *datafmts, + FAR imgsensor_interval_t *interval); +static int sim_video_start_capture(imgsensor_stream_type_t type, + uint8_t nr_datafmt, + FAR imgsensor_format_t *datafmts, + FAR imgsensor_interval_t *interval); +static int sim_video_stop_capture(imgsensor_stream_type_t type); +static int sim_video_get_supported_value(uint32_t id, + FAR imgsensor_supported_value_t *value); +static int sim_video_get_value(uint32_t id, uint32_t size, + FAR imgsensor_value_t *value); +static int sim_video_set_value(uint32_t id, uint32_t size, + imgsensor_value_t value); + +/* video image data operations */ + +static int sim_video_data_init(void); +static int sim_video_data_uninit(void); +static int sim_video_data_validate_frame_setting + (uint8_t nr_datafmt, + imgdata_format_t *datafmt, + imgdata_interval_t *interval); +static int sim_video_data_start_capture + (uint8_t nr_datafmt, + imgdata_format_t *datafmt, + imgdata_interval_t *interval, + imgdata_capture_t callback); +static int sim_video_data_stop_capture(void); +static int sim_video_data_validate_buf(uint8_t *addr, uint32_t size); +static int sim_video_data_set_buf(uint8_t *addr, uint32_t size); + +static uint32_t imgsensor_fmt_to_v4l2(uint32_t pixelformat); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static struct imgsensor_ops_s g_sim_video_ops = +{ + .is_available = sim_video_is_available, + .init = sim_video_init, + .uninit = sim_video_uninit, + .get_driver_name = sim_video_get_driver_name, + .validate_frame_setting = sim_video_validate_frame_setting, + .start_capture = sim_video_start_capture, + .stop_capture = sim_video_stop_capture, + .get_supported_value = sim_video_get_supported_value, + .get_value = sim_video_get_value, + .set_value = sim_video_set_value, +}; + +static struct imgdata_ops_s g_sim_video_data_ops = Review Comment: add const ########## arch/sim/src/sim/posix/sim_video_host.c: ########## @@ -0,0 +1,350 @@ +/**************************************************************************** + * arch/sim/src/sim/posix/sim_video_host.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <errno.h> +#include <fcntl.h> +#include <stdbool.h> +#include <stdio.h> +#include <stdlib.h> +#include <stdint.h> +#include <string.h> +#include <syslog.h> +#include <unistd.h> +#include <linux/videodev2.h> +#include <sys/mman.h> +#include <sys/ioctl.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define MAX_REQBUFS 3 +#define WARN(fmt, ...) \ + syslog(LOG_WARNING, "sim_video_host: " fmt "\n", ##__VA_ARGS__) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct +{ + int fd; + struct v4l2_requestbuffers reqbuf; + void *addrs[MAX_REQBUFS]; + size_t buflen[MAX_REQBUFS]; +} video_host_dev_t; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static video_host_dev_t priv; Review Comment: let's return and accept video_host_dev_t pointer to support mutli-instance ########## arch/sim/src/sim/sim_video.c: ########## @@ -0,0 +1,354 @@ +/**************************************************************************** + * arch/sim/src/sim/sim_video.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <assert.h> +#include <debug.h> +#include <errno.h> +#include <fcntl.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <arch/board/board.h> +#include <nuttx/config.h> +#include <nuttx/semaphore.h> +#include <nuttx/signal.h> +#include <nuttx/video/imgsensor.h> +#include <nuttx/video/imgdata.h> +#include <sys/mman.h> +#include <sys/time.h> +#include <sys/ioctl.h> + +#include "sim_video_host.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define HOST_VIDEO_DEV_PATH CONFIG_HOST_VIDEO_DEV_PATH +#define ENQUEUE(q, addr, size) (q).addr[q.num] = addr; \ + (q).size[q.num++] = size; + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct +{ + imgdata_capture_t capture_cb; + uint32_t buf_size; + uintptr_t next_buf; + bool is_streaming; +} video_priv_t; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/* video image sensor operations */ + +static bool sim_video_is_available(void); +static int sim_video_init(void); +static int sim_video_uninit(void); +static FAR const char *sim_video_get_driver_name(void); +static int sim_video_validate_frame_setting(imgsensor_stream_type_t type, + uint8_t nr_datafmt, + FAR imgsensor_format_t *datafmts, Review Comment: remove FAR from all source code in arc/sim ########## arch/sim/src/sim/posix/sim_video_host.c: ########## @@ -0,0 +1,350 @@ +/**************************************************************************** + * arch/sim/src/sim/posix/sim_video_host.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <errno.h> +#include <fcntl.h> +#include <stdbool.h> +#include <stdio.h> +#include <stdlib.h> +#include <stdint.h> +#include <string.h> +#include <syslog.h> +#include <unistd.h> +#include <linux/videodev2.h> +#include <sys/mman.h> +#include <sys/ioctl.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define MAX_REQBUFS 3 +#define WARN(fmt, ...) \ + syslog(LOG_WARNING, "sim_video_host: " fmt "\n", ##__VA_ARGS__) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct +{ + int fd; + struct v4l2_requestbuffers reqbuf; + void *addrs[MAX_REQBUFS]; + size_t buflen[MAX_REQBUFS]; +} video_host_dev_t; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static video_host_dev_t priv; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int xioctl(int fd, int request, void *arg) +{ + int r; + do + { + r = ioctl(fd, request, arg); + } + while (-1 == r && EINTR == errno); + + return r; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +bool video_host_is_available(const char *video_host_dev_path) +{ + if (access(video_host_dev_path, F_OK) == 0) + { + return true; + } + + return false; +} + +int video_host_init(const char *video_host_dev_path) +{ + int fd = open(video_host_dev_path, O_RDWR | O_NONBLOCK); + if (fd < 0) + { + perror(video_host_dev_path); + return -errno; + } + + memset(&priv, 0, sizeof(priv)); + priv.fd = fd; + return 0; +} + +int video_host_dq_buf(uint8_t *addr, uint32_t size) +{ + struct v4l2_buffer buf; + + memset(&buf, 0, sizeof(buf)); + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + + /* Dequeue a buffer */ + + if (-1 == xioctl(priv.fd, VIDIOC_DQBUF, &buf)) + { + switch (errno) + { + case EAGAIN: + + /* No buffer in the outgoing queue */ + + return 0; + case EIO: + + /* fall through */ + + default: + perror("VIDIOC_DQBUF"); + return -errno; + } + } + + if (size > buf.bytesused) + { + size = buf.bytesused; + } + + memcpy(addr, priv.addrs[buf.index], size); + if (-1 == ioctl(priv.fd, VIDIOC_QBUF, &buf)) + { + perror("VIDIOC_QBUF"); + return -errno; + } + + return size; +} + +int video_host_uninit(void) +{ + close(priv.fd); + return 0; +} + +int video_host_data_init(void) +{ + return 0; +} + +int video_host_start_capture(void) +{ + struct v4l2_buffer buf; + int i; + + /* VIDIOC_REQBUFS initiate user pointer I/O */ + + priv.reqbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + priv.reqbuf.memory = V4L2_MEMORY_MMAP; + priv.reqbuf.count = MAX_REQBUFS; + + if (-1 == xioctl(priv.fd, VIDIOC_REQBUFS, &priv.reqbuf)) + { + perror("VIDIOC_REQBUFS"); + return -errno; + } + + if (priv.reqbuf.count < 2) + { + errno = ENOMEM; + perror("Not enough buffers"); + return -ENOMEM; + } + + for (i = 0; i < priv.reqbuf.count; i++) + { + memset(&buf, 0, sizeof(buf)); + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + buf.index = i; + if (-1 == xioctl(priv.fd, VIDIOC_QUERYBUF, &buf)) + { + perror("VIDIOC_QUERYBUF"); + return -errno; + } + + priv.addrs[i] = mmap(NULL, buf.length, PROT_READ | PROT_WRITE, + MAP_SHARED, priv.fd, buf.m.offset); + priv.buflen[i] = buf.length; + if (priv.addrs[i] == MAP_FAILED) + { + perror("Mmap failed"); + return -errno; + } + + if (-1 == xioctl(priv.fd, VIDIOC_QBUF, &buf)) + { + perror("VIDIOC_QBUF"); + return -errno; + } + } + + enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (-1 == xioctl(priv.fd, VIDIOC_STREAMON, &type)) + { + perror("VIDIOC_STREAMON"); + return -errno; + } + + return 0; +} + +int video_host_stop_capture(void) +{ + enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + int i; + + if (-1 == xioctl(priv.fd, VIDIOC_STREAMOFF, &type)) + { + perror("VIDIOC_STREAMOFF"); + return -errno; + } + + for (i = 0; i < priv.reqbuf.count; i++) + { + munmap(priv.addrs[i], priv.buflen[i]); + } + + return 0; +} + +int video_host_set_fmt(uint16_t width, uint16_t height, uint32_t fmt, + uint32_t denom, uint32_t numer) Review Comment: a ```suggestion uint32_t denom, uint32_t numer) ``` ########## arch/sim/src/sim/posix/sim_video_host.c: ########## @@ -0,0 +1,350 @@ +/**************************************************************************** + * arch/sim/src/sim/posix/sim_video_host.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <errno.h> +#include <fcntl.h> +#include <stdbool.h> +#include <stdio.h> +#include <stdlib.h> +#include <stdint.h> +#include <string.h> +#include <syslog.h> +#include <unistd.h> +#include <linux/videodev2.h> +#include <sys/mman.h> +#include <sys/ioctl.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define MAX_REQBUFS 3 +#define WARN(fmt, ...) \ + syslog(LOG_WARNING, "sim_video_host: " fmt "\n", ##__VA_ARGS__) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct +{ + int fd; + struct v4l2_requestbuffers reqbuf; + void *addrs[MAX_REQBUFS]; + size_t buflen[MAX_REQBUFS]; +} video_host_dev_t; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static video_host_dev_t priv; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int xioctl(int fd, int request, void *arg) +{ + int r; + do + { + r = ioctl(fd, request, arg); + } + while (-1 == r && EINTR == errno); + + return r; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +bool video_host_is_available(const char *video_host_dev_path) +{ + if (access(video_host_dev_path, F_OK) == 0) + { + return true; + } + + return false; +} + +int video_host_init(const char *video_host_dev_path) +{ + int fd = open(video_host_dev_path, O_RDWR | O_NONBLOCK); + if (fd < 0) + { + perror(video_host_dev_path); + return -errno; + } + + memset(&priv, 0, sizeof(priv)); + priv.fd = fd; + return 0; +} + +int video_host_dq_buf(uint8_t *addr, uint32_t size) +{ + struct v4l2_buffer buf; + + memset(&buf, 0, sizeof(buf)); + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + + /* Dequeue a buffer */ + + if (-1 == xioctl(priv.fd, VIDIOC_DQBUF, &buf)) + { + switch (errno) + { + case EAGAIN: + + /* No buffer in the outgoing queue */ + + return 0; + case EIO: + + /* fall through */ + + default: + perror("VIDIOC_DQBUF"); + return -errno; + } + } + + if (size > buf.bytesused) + { + size = buf.bytesused; + } + + memcpy(addr, priv.addrs[buf.index], size); + if (-1 == ioctl(priv.fd, VIDIOC_QBUF, &buf)) + { + perror("VIDIOC_QBUF"); + return -errno; + } + + return size; +} + +int video_host_uninit(void) +{ + close(priv.fd); + return 0; +} + +int video_host_data_init(void) +{ + return 0; +} + +int video_host_start_capture(void) +{ + struct v4l2_buffer buf; + int i; + + /* VIDIOC_REQBUFS initiate user pointer I/O */ + + priv.reqbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + priv.reqbuf.memory = V4L2_MEMORY_MMAP; + priv.reqbuf.count = MAX_REQBUFS; + + if (-1 == xioctl(priv.fd, VIDIOC_REQBUFS, &priv.reqbuf)) + { + perror("VIDIOC_REQBUFS"); + return -errno; + } + + if (priv.reqbuf.count < 2) + { + errno = ENOMEM; + perror("Not enough buffers"); + return -ENOMEM; + } + + for (i = 0; i < priv.reqbuf.count; i++) + { + memset(&buf, 0, sizeof(buf)); + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + buf.index = i; + if (-1 == xioctl(priv.fd, VIDIOC_QUERYBUF, &buf)) + { + perror("VIDIOC_QUERYBUF"); + return -errno; + } + + priv.addrs[i] = mmap(NULL, buf.length, PROT_READ | PROT_WRITE, + MAP_SHARED, priv.fd, buf.m.offset); + priv.buflen[i] = buf.length; + if (priv.addrs[i] == MAP_FAILED) + { + perror("Mmap failed"); + return -errno; + } + + if (-1 == xioctl(priv.fd, VIDIOC_QBUF, &buf)) + { + perror("VIDIOC_QBUF"); + return -errno; + } + } + + enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (-1 == xioctl(priv.fd, VIDIOC_STREAMON, &type)) + { + perror("VIDIOC_STREAMON"); + return -errno; + } + + return 0; +} + +int video_host_stop_capture(void) +{ + enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + int i; + + if (-1 == xioctl(priv.fd, VIDIOC_STREAMOFF, &type)) + { + perror("VIDIOC_STREAMOFF"); + return -errno; + } + + for (i = 0; i < priv.reqbuf.count; i++) + { + munmap(priv.addrs[i], priv.buflen[i]); + } + + return 0; +} + +int video_host_set_fmt(uint16_t width, uint16_t height, uint32_t fmt, + uint32_t denom, uint32_t numer) +{ + struct v4l2_format v4l2_fmt = + { + 0 + }; + + v4l2_fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + + v4l2_fmt.fmt.pix.width = width; + v4l2_fmt.fmt.pix.height = height; + v4l2_fmt.fmt.pix.pixelformat = fmt; + v4l2_fmt.fmt.pix.field = V4L2_FIELD_NONE; + + if (-1 == xioctl(priv.fd, VIDIOC_S_FMT, &v4l2_fmt)) + { + perror("VIDIOC_S_FMT"); + return -errno; + } + + struct v4l2_streamparm streamparm = + { + 0 + }; + + streamparm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (-1 == xioctl(priv.fd, VIDIOC_G_PARM, &streamparm)) + { + perror("VIDIOC_G_PARM"); + return -errno; + } + + streamparm.parm.capture.capturemode |= V4L2_CAP_TIMEPERFRAME; + streamparm.parm.capture.timeperframe.numerator = numer; + streamparm.parm.capture.timeperframe.denominator = denom; + if (-1 == xioctl(priv.fd, VIDIOC_S_PARM, &streamparm)) + { + perror("VIDIOC_S_PARM"); + return -errno; + } + + return 0; +} + +int video_host_try_fmt(uint16_t width, uint16_t height, uint32_t fmt, + uint32_t denom, uint32_t numer) Review Comment: ```suggestion uint32_t denom, uint32_t numer) ``` ########## arch/sim/src/sim/posix/sim_video_host.c: ########## @@ -0,0 +1,350 @@ +/**************************************************************************** + * arch/sim/src/sim/posix/sim_video_host.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <errno.h> +#include <fcntl.h> +#include <stdbool.h> +#include <stdio.h> +#include <stdlib.h> +#include <stdint.h> +#include <string.h> +#include <syslog.h> +#include <unistd.h> +#include <linux/videodev2.h> +#include <sys/mman.h> +#include <sys/ioctl.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define MAX_REQBUFS 3 +#define WARN(fmt, ...) \ + syslog(LOG_WARNING, "sim_video_host: " fmt "\n", ##__VA_ARGS__) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct +{ + int fd; + struct v4l2_requestbuffers reqbuf; + void *addrs[MAX_REQBUFS]; + size_t buflen[MAX_REQBUFS]; +} video_host_dev_t; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static video_host_dev_t priv; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int xioctl(int fd, int request, void *arg) +{ + int r; + do + { + r = ioctl(fd, request, arg); + } + while (-1 == r && EINTR == errno); + + return r; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +bool video_host_is_available(const char *video_host_dev_path) +{ + if (access(video_host_dev_path, F_OK) == 0) + { + return true; + } + + return false; +} + +int video_host_init(const char *video_host_dev_path) +{ + int fd = open(video_host_dev_path, O_RDWR | O_NONBLOCK); + if (fd < 0) + { + perror(video_host_dev_path); + return -errno; + } + + memset(&priv, 0, sizeof(priv)); + priv.fd = fd; + return 0; +} + +int video_host_dq_buf(uint8_t *addr, uint32_t size) +{ + struct v4l2_buffer buf; + + memset(&buf, 0, sizeof(buf)); + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + + /* Dequeue a buffer */ + + if (-1 == xioctl(priv.fd, VIDIOC_DQBUF, &buf)) + { + switch (errno) + { + case EAGAIN: + + /* No buffer in the outgoing queue */ + + return 0; + case EIO: + + /* fall through */ + + default: + perror("VIDIOC_DQBUF"); + return -errno; + } + } + + if (size > buf.bytesused) + { + size = buf.bytesused; + } + + memcpy(addr, priv.addrs[buf.index], size); + if (-1 == ioctl(priv.fd, VIDIOC_QBUF, &buf)) + { + perror("VIDIOC_QBUF"); + return -errno; + } + + return size; +} + +int video_host_uninit(void) +{ + close(priv.fd); + return 0; +} + +int video_host_data_init(void) +{ + return 0; +} + +int video_host_start_capture(void) +{ + struct v4l2_buffer buf; + int i; + + /* VIDIOC_REQBUFS initiate user pointer I/O */ + + priv.reqbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + priv.reqbuf.memory = V4L2_MEMORY_MMAP; + priv.reqbuf.count = MAX_REQBUFS; + + if (-1 == xioctl(priv.fd, VIDIOC_REQBUFS, &priv.reqbuf)) + { + perror("VIDIOC_REQBUFS"); + return -errno; + } + + if (priv.reqbuf.count < 2) + { + errno = ENOMEM; + perror("Not enough buffers"); + return -ENOMEM; + } + + for (i = 0; i < priv.reqbuf.count; i++) + { + memset(&buf, 0, sizeof(buf)); + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + buf.index = i; + if (-1 == xioctl(priv.fd, VIDIOC_QUERYBUF, &buf)) + { + perror("VIDIOC_QUERYBUF"); + return -errno; + } + + priv.addrs[i] = mmap(NULL, buf.length, PROT_READ | PROT_WRITE, + MAP_SHARED, priv.fd, buf.m.offset); + priv.buflen[i] = buf.length; + if (priv.addrs[i] == MAP_FAILED) + { + perror("Mmap failed"); + return -errno; + } + + if (-1 == xioctl(priv.fd, VIDIOC_QBUF, &buf)) + { + perror("VIDIOC_QBUF"); + return -errno; + } + } + + enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (-1 == xioctl(priv.fd, VIDIOC_STREAMON, &type)) + { + perror("VIDIOC_STREAMON"); + return -errno; + } + + return 0; +} + +int video_host_stop_capture(void) +{ + enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + int i; + + if (-1 == xioctl(priv.fd, VIDIOC_STREAMOFF, &type)) + { + perror("VIDIOC_STREAMOFF"); + return -errno; + } + + for (i = 0; i < priv.reqbuf.count; i++) + { + munmap(priv.addrs[i], priv.buflen[i]); + } + + return 0; +} + +int video_host_set_fmt(uint16_t width, uint16_t height, uint32_t fmt, + uint32_t denom, uint32_t numer) +{ + struct v4l2_format v4l2_fmt = + { + 0 + }; + + v4l2_fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + + v4l2_fmt.fmt.pix.width = width; + v4l2_fmt.fmt.pix.height = height; + v4l2_fmt.fmt.pix.pixelformat = fmt; + v4l2_fmt.fmt.pix.field = V4L2_FIELD_NONE; + + if (-1 == xioctl(priv.fd, VIDIOC_S_FMT, &v4l2_fmt)) + { + perror("VIDIOC_S_FMT"); + return -errno; + } + + struct v4l2_streamparm streamparm = + { + 0 + }; + + streamparm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (-1 == xioctl(priv.fd, VIDIOC_G_PARM, &streamparm)) + { + perror("VIDIOC_G_PARM"); + return -errno; + } + + streamparm.parm.capture.capturemode |= V4L2_CAP_TIMEPERFRAME; + streamparm.parm.capture.timeperframe.numerator = numer; + streamparm.parm.capture.timeperframe.denominator = denom; + if (-1 == xioctl(priv.fd, VIDIOC_S_PARM, &streamparm)) + { + perror("VIDIOC_S_PARM"); + return -errno; + } + + return 0; +} + +int video_host_try_fmt(uint16_t width, uint16_t height, uint32_t fmt, + uint32_t denom, uint32_t numer) +{ + struct v4l2_format v4l2_fmt = + { + 0 + }; + + v4l2_fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + + v4l2_fmt.fmt.pix.width = width; + v4l2_fmt.fmt.pix.height = height; + v4l2_fmt.fmt.pix.pixelformat = fmt; + v4l2_fmt.fmt.pix.field = V4L2_FIELD_NONE; + + if (-1 == xioctl(priv.fd, VIDIOC_TRY_FMT, &v4l2_fmt)) + { + perror("VIDIOC_TRY_FMT"); + return -errno; + } + + if (v4l2_fmt.fmt.pix.pixelformat != fmt) + { + WARN("Pixel format not supported"); + return -EINVAL; + } + + struct v4l2_frmivalenum v4l2_frmival = Review Comment: move to beginning -- This is an automated message from the Apache Git Service. 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