rk3399_arm_lvds/capimage/gvideo.cpp

#include "gvideo.h"
#include <iostream>
#include <fcntl.h> /* low-level i/o */
#include <unistd.h>
#include <sys/stat.h>
#include <sys/mman.h>
#include <sys/ioctl.h>
#include <dlfcn.h>
#include <linux/videodev2.h>
#include "linux/v4l2-subdev.h"

#include <cstring>
#include <poll.h>
#include <malloc.h>

static const std::string loggername = "gVideo";

#define LOG_TRACE(...)
#define LOG_ERROR printf
#define LOG_INFO(...)

using namespace std;
#define CLEAR(x) memset(&(x), 0, sizeof(x))
#define LOG printf

int file_size(const char *filename)
{
	struct stat statbuf;
	int ret = stat(filename, &statbuf);
	int size = -1;
	if (ret == 0)
		size = statbuf.st_size;
	return size;
}

gVideo::gVideo()
	: fd(-1),
	  buffers(0),
	  bStart(false),
	  dev_name("/dev/video3")
{
}

gVideo::~gVideo()
{
	close();
}

void gVideo::set_buf_count(int count)
{
	v4l_buffer_count = count;
}

bool gVideo::is_open()
{
	return fd >= 0;
}

void gVideo::close()
{
	if (is_open())
	{
		stop();
		uninit_device();
		close_device();
	}
}

void gVideo::open(int width, int height)
{
	if (is_open())
		return;

	open_device();
	if (is_open())
	{
		// init_device();
		set_size(width, height);
		start();
	}
}

void gVideo::start()
{
	std::lock_guard<std::mutex> lck(m_lock);
	if (bStart)
		return;

	start_capturing();
	bStart = true;
}

void gVideo::stop()
{
	std::lock_guard<std::mutex> lck(m_lock);
	if (bStart)
	{
		stop_capturing();
		bStart = false;
	}
}

void gVideo::grab(int color, bool bcrrect, int timeout, int flatpara)
{
}

bool gVideo::hasframe()
{
	return wait(0);
}

bool gVideo::wait(int msTimeout)
{
	pollfd pfd;
	pfd.fd = this->fd;
	pfd.events = POLLIN | POLLRDNORM;

	if (poll(&pfd, 1, msTimeout) > 0)
		return pfd.revents;

	return false;
}

void *gVideo::read_frame(int timeout)
{
	if (!wait(timeout))
	{
		LOG_TRACE("read frame time out");
		return 0;
	}
	v4l2_buffer buf;
	buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	buf.memory = V4L2_MEMORY_MMAP;
	if (-1 == ioctl(fd, VIDIOC_DQBUF, &buf))
	{
		LOG_ERROR("VIDIOC_DQBUF  error!!! index :%d\n", buf.index);
		return 0;
	}
	if (-1 == ioctl(fd, VIDIOC_QBUF, &buf))
	{
		LOG_ERROR("VIDIOC_QBUF error!!! index :%d\n", buf.index);
		return 0;
	}
	return buffers[buf.index].start;
}

void gVideo::set_size(int width, int height)
{
	if (!buffers.empty())
		uninit_device();

	v4l_width = width;
	v4l_height = height;
	// v4l_buffer_count = (10*1024*1024) / (v4l_width*v4l_height*3);
	// v4l_buffer_count = std::max(3, std::min(v4l_buffer_count, 40)); /* to-do */
	printf("v4l buffer count %d\n", v4l_buffer_count);
	init_device();
}

void gVideo::stop_capturing(void)
{
	enum v4l2_buf_type type;

	type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	if (-1 == ioctl(fd, VIDIOC_STREAMOFF, &type))
		LOG_ERROR("streamo off");
}

unsigned int querybuf_length;
void gVideo::start_capturing(void)
{
	enum v4l2_buf_type type;
	LOG_INFO("start_capturing::querybuf_length  = %d.\n", querybuf_length);
	for (int i = 0; i < n_buffers; ++i)
	{
		struct v4l2_buffer buf;
		CLEAR(buf);
		buf.index = i;
		buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
		buf.memory = V4L2_MEMORY_MMAP;

		if (-1 == ioctl(fd, VIDIOC_QBUF, &buf))
			LOG_ERROR("VIDIOC_QBUF Error %d", i);
		else
			LOG_INFO("VIDIOC_QBUF %d\n", i);
	}

	type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	if (-1 == ioctl(fd, VIDIOC_STREAMON, &type))
		LOG_ERROR("VIDIOC_STREAMON");
}

void gVideo::uninit_device(void)
{
	if (!buffers.empty())
	{
		for (int i = 0; i < buffers.size(); ++i)
			if (-1 == munmap(buffers[i].start, buffers[i].length))
				LOG_ERROR("munmap %d error\n", i);

		struct v4l2_requestbuffers req;
		CLEAR(req);
		req.count = 0;
		req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
		req.memory = V4L2_MEMORY_MMAP;

		if (-1 == ioctl(fd, VIDIOC_REQBUFS, &req))
			LOG_ERROR("uinit_device VIDIOC_REQBUFS fail\n");

		buffers.clear();
	}
}

void gVideo::init_mmap(void)
{
	struct v4l2_requestbuffers req;
	int ret;
	unsigned int length;
	unsigned int offset;

	CLEAR(req);
	req.count = v4l_buffer_count;
	req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	req.memory = V4L2_MEMORY_MMAP;
	LOG_INFO("set v4l_buffer_count = %d\n", req.count);
	LOG_INFO("set v4l_buffer_type = %d\n", req.type);
	LOG_INFO("set v4l_buffer_memory = %d\n", req.memory);

	ret = ioctl(fd, VIDIOC_REQBUFS, &req);
	if (ret < 0)
	{
		LOG_ERROR("Unable to request buffers: %s (%d).\n", strerror(errno), errno);
	}
	else
	{
		LOG_INFO("%s VIDIOC_REQBUFS sucess\n", dev_name.c_str());
	}
	LOG_INFO("%u buffers requested.\n", req.count);

	buffers.resize(req.count);
	if (buffers.empty())
		LOG_ERROR("Out of memory\n");

	// 7.VIDIOC_QUERYBUF
	for (n_buffers = 0; n_buffers < req.count; ++n_buffers)
	{
		const char *ts_type, *ts_source;
		struct v4l2_buffer buf;
		CLEAR(buf);
		buf.index = n_buffers;
		buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
		buf.memory = V4L2_MEMORY_MMAP;
		ret = ioctl(fd, VIDIOC_QUERYBUF, &buf);
		if (ret < 0)
			LOG_ERROR("Unable to query buffer %u: %s (%d).\n", n_buffers, strerror(errno), errno);
		else
			LOG_INFO("index %d VIDIOC_QUERYBUF sucess.\n", n_buffers);
		// mmap
		unsigned int length;
		unsigned int offset;
		length = buf.length;
		offset = buf.m.offset;
		LOG_INFO("Buffer %u length  = %d.\n", n_buffers, length);
		LOG_INFO("Buffer %u offset  = %d.\n", n_buffers, offset);

		buffers[n_buffers].length = length;
		buffers[n_buffers].start =
			mmap(NULL /* start anywhere */,
				 length,
				 PROT_READ | PROT_WRITE /* required */,
				 MAP_SHARED /* recommended */,
				 fd, offset);
		if (buffers[n_buffers].start == MAP_FAILED)
			LOG_ERROR("Unable to map buffer %u: %s (%d)\n", n_buffers, strerror(errno), errno);
		else
			LOG_INFO("Buffer %u mapped at address %p.\n", n_buffers, buffers[n_buffers].start);
	}
}

void printCamInfo(int fd)
{ // 获取摄像头所支持的分辨率
	enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	struct v4l2_fmtdesc fmt_1;
	struct v4l2_frmsizeenum frmsize;
	struct v4l2_frmivalenum frmival;
	fmt_1.index = 0;
	fmt_1.type = type;
	while (ioctl(fd, VIDIOC_ENUM_FMT, &fmt_1) >= 0)
	{
		frmsize.pixel_format = fmt_1.pixelformat;
		frmsize.index = 0;
		while (ioctl(fd, VIDIOC_ENUM_FRAMESIZES, &frmsize) >= 0)
		{
			// if(frmsize.type == V4L2_FRMSIZE_TYPE_DISCRETE)
			// 	LOG_INFO("line:%d %dx%d", __LINE__, frmsize.discrete.width, frmsize.discrete.height);
			// else if (frmsize.type == V4L2_FRMSIZE_TYPE_STEPWISE)
			// 	LOG_INFO("line:%d %dx%d", __LINE__, frmsize.discrete.width, frmsize.discrete.height);
			frmsize.index++;
		}
		fmt_1.index++;
	}
}

void gVideo::init_device(void)
{
	struct v4l2_capability cap;
	struct v4l2_format fmt;
	printCamInfo(fd);
	if (-1 == ioctl(fd, VIDIOC_QUERYCAP, &cap))
	{
		if (EINVAL == errno)
			LOG_ERROR("%s is no V4L2 device", dev_name.c_str());
		else
			LOG_ERROR("VIDIOC_QUERYCAP");
	}

	if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE))
		LOG_ERROR("%s is no video capture device", dev_name.c_str());

	if (!(cap.capabilities & V4L2_CAP_STREAMING))
		LOG_ERROR("%s does not support streaming i/o", dev_name.c_str());

	CLEAR(fmt);
	fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	fmt.fmt.pix.width = v4l_width;
	fmt.fmt.pix.height = v4l_height;
	// LOG_TRACE("v4l2 init_device width:%d, height:%d\n", fmt.fmt.pix.width, fmt.fmt.pix.height);
	fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB24;
	fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;

	if (-1 == ioctl(fd, VIDIOC_S_FMT, &fmt))
		LOG_ERROR("VIDIOC_S_FMT error");
	init_mmap();
}

void gVideo::close_device(void)
{
	if (-1 == ::close(fd))
		LOG_ERROR("close");

	fd = -1;
}

void gVideo::open_device(void)
{
	if ((fd = ::open(dev_name.c_str(), O_RDWR /* required */ /*| O_NONBLOCK*/, 0)) == -1)
		LOG_ERROR("Cannot open %s", dev_name.c_str());
}