xiaoxiang781216 commented on code in PR #7798: URL: https://github.com/apache/nuttx/pull/7798#discussion_r1043665621
########## arch/sim/src/sim/posix/sim_host_v4l2.c: ########## @@ -0,0 +1,349 @@ +/**************************************************************************** + * arch/sim/src/sim/posix/sim_host_v4l2.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> + +#include "sim_hostvideo.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define MAX_REQBUFS 3 + +#define WARN(fmt, ...) \ + syslog(LOG_WARNING, "sim_host_video: " fmt "\n", ##__VA_ARGS__) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct host_video_dev_t +{ + int fd; + struct v4l2_requestbuffers reqbuf; + void *addrs[MAX_REQBUFS]; + size_t buflen[MAX_REQBUFS]; +} host_video_dev_t; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int host_video_ioctl(int fd, int request, void *arg) +{ + int r; + + do + { + r = ioctl(fd, request, arg); + } + while (-1 == r && EINTR == errno); + + return r; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +bool host_video_is_available(const char *host_video_dev_path) +{ + return (access(host_video_dev_path, F_OK) == 0); Review Comment: ```suggestion return access(host_video_dev_path, F_OK) == 0; ``` ########## arch/sim/src/sim/sim_hostvideo.h: ########## @@ -0,0 +1,55 @@ +/**************************************************************************** + * arch/sim/src/sim/sim_hostvideo.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_SIM_HOSTVIDEO_H +#define __ARCH_SIM_SRC_SIM_SIM_HOSTVIDEO_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <errno.h> +#include <stdbool.h> +#include <stdint.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +typedef struct host_video_dev_t * host_video_dev; Review Comment: ```suggestion struct host_video_dev_s; ``` and replace all `host_video_dev` to `struct host_video_dev_s` and cast ########## arch/sim/src/sim/posix/sim_host_v4l2.c: ########## @@ -0,0 +1,349 @@ +/**************************************************************************** + * arch/sim/src/sim/posix/sim_host_v4l2.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> + +#include "sim_hostvideo.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define MAX_REQBUFS 3 + +#define WARN(fmt, ...) \ + syslog(LOG_WARNING, "sim_host_video: " fmt "\n", ##__VA_ARGS__) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct host_video_dev_t +{ + int fd; + struct v4l2_requestbuffers reqbuf; + void *addrs[MAX_REQBUFS]; + size_t buflen[MAX_REQBUFS]; +} host_video_dev_t; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int host_video_ioctl(int fd, int request, void *arg) +{ + int r; + + do + { + r = ioctl(fd, request, arg); + } + while (-1 == r && EINTR == errno); + + return r; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +bool host_video_is_available(const char *host_video_dev_path) +{ + return (access(host_video_dev_path, F_OK) == 0); +} + +host_video_dev host_video_init(const char *host_video_dev_path) +{ + int fd; + host_video_dev vdev; + + fd = open(host_video_dev_path, O_RDWR | O_NONBLOCK); + if (fd < 0) + { + perror(host_video_dev_path); + return NULL; + } + + vdev = calloc(1, sizeof(*vdev)); + vdev->fd = fd; + return vdev; +} + +int host_video_dq_buf(host_video_dev vdev, uint8_t *addr, uint32_t size) +{ + struct v4l2_buffer buf; + host_video_dev_t *dev = (host_video_dev_t *)vdev; + + memset(&buf, 0, sizeof(buf)); + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + + /* Dequeue a buffer */ + + if (-1 == host_video_ioctl(dev->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, dev->addrs[buf.index], size); + if (-1 == ioctl(dev->fd, VIDIOC_QBUF, &buf)) + { + perror("VIDIOC_QBUF"); + return -errno; + } + + return size; +} + +int host_video_uninit(host_video_dev vdev) +{ + host_video_dev_t *dev = (host_video_dev_t *)vdev; + + if (dev != NULL) + { + close(dev->fd); + } + + free(vdev); + return 0; +} + +int host_video_start_capture(host_video_dev vdev) +{ + struct v4l2_buffer buf; + enum v4l2_buf_type type; + int i; + host_video_dev_t *dev = (host_video_dev_t *)vdev; + + /* VIDIOC_REQBUFS initiate user pointer I/O */ + + dev->reqbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + dev->reqbuf.memory = V4L2_MEMORY_MMAP; + dev->reqbuf.count = MAX_REQBUFS; + + if (-1 == host_video_ioctl(dev->fd, VIDIOC_REQBUFS, &dev->reqbuf)) + { + perror("VIDIOC_REQBUFS"); + return -errno; + } + + if (dev->reqbuf.count < 2) + { + errno = ENOMEM; + perror("Not enough buffers"); + return -ENOMEM; + } + + for (i = 0; i < dev->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 == host_video_ioctl(dev->fd, VIDIOC_QUERYBUF, &buf)) + { + perror("VIDIOC_QUERYBUF"); + return -errno; + } + + dev->addrs[i] = mmap(NULL, buf.length, PROT_READ | PROT_WRITE, + MAP_SHARED, dev->fd, buf.m.offset); + dev->buflen[i] = buf.length; + if (dev->addrs[i] == MAP_FAILED) + { + perror("Mmap failed"); + return -errno; + } + + if (-1 == host_video_ioctl(dev->fd, VIDIOC_QBUF, &buf)) + { + perror("VIDIOC_QBUF"); + return -errno; + } + } + + type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (-1 == host_video_ioctl(dev->fd, VIDIOC_STREAMON, &type)) + { + perror("VIDIOC_STREAMON"); + return -errno; + } + + return 0; +} + +int host_video_stop_capture(host_video_dev vdev) +{ + enum v4l2_buf_type type; + int i; + host_video_dev_t *dev = (host_video_dev_t *)vdev; + + type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (-1 == host_video_ioctl(dev->fd, VIDIOC_STREAMOFF, &type)) + { + perror("VIDIOC_STREAMOFF"); + return -errno; + } + + for (i = 0; i < dev->reqbuf.count; i++) + { + munmap(dev->addrs[i], dev->buflen[i]); + } + + return 0; +} + +int host_video_set_fmt(host_video_dev vdev, Review Comment: ```suggestion int host_video_set_fmt(struct host_video_dev_s *dev, ``` apply all to host_video_xxx function and remove all cast like line 260 ########## arch/sim/src/sim/posix/sim_host_v4l2.c: ########## @@ -0,0 +1,349 @@ +/**************************************************************************** + * arch/sim/src/sim/posix/sim_host_v4l2.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> + +#include "sim_hostvideo.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define MAX_REQBUFS 3 + +#define WARN(fmt, ...) \ + syslog(LOG_WARNING, "sim_host_video: " fmt "\n", ##__VA_ARGS__) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct host_video_dev_t +{ + int fd; + struct v4l2_requestbuffers reqbuf; + void *addrs[MAX_REQBUFS]; + size_t buflen[MAX_REQBUFS]; +} host_video_dev_t; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int host_video_ioctl(int fd, int request, void *arg) +{ + int r; + + do + { + r = ioctl(fd, request, arg); + } + while (-1 == r && EINTR == errno); + + return r; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +bool host_video_is_available(const char *host_video_dev_path) +{ + return (access(host_video_dev_path, F_OK) == 0); +} + +host_video_dev host_video_init(const char *host_video_dev_path) +{ + int fd; + host_video_dev vdev; + + fd = open(host_video_dev_path, O_RDWR | O_NONBLOCK); + if (fd < 0) + { + perror(host_video_dev_path); + return NULL; + } + + vdev = calloc(1, sizeof(*vdev)); + vdev->fd = fd; + return vdev; +} + +int host_video_dq_buf(host_video_dev vdev, uint8_t *addr, uint32_t size) +{ + struct v4l2_buffer buf; + host_video_dev_t *dev = (host_video_dev_t *)vdev; + + memset(&buf, 0, sizeof(buf)); + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + + /* Dequeue a buffer */ + + if (-1 == host_video_ioctl(dev->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, dev->addrs[buf.index], size); + if (-1 == ioctl(dev->fd, VIDIOC_QBUF, &buf)) + { + perror("VIDIOC_QBUF"); + return -errno; + } + + return size; +} + +int host_video_uninit(host_video_dev vdev) +{ + host_video_dev_t *dev = (host_video_dev_t *)vdev; + + if (dev != NULL) + { + close(dev->fd); + } + + free(vdev); + return 0; +} + +int host_video_start_capture(host_video_dev vdev) +{ + struct v4l2_buffer buf; + enum v4l2_buf_type type; + int i; + host_video_dev_t *dev = (host_video_dev_t *)vdev; + + /* VIDIOC_REQBUFS initiate user pointer I/O */ + + dev->reqbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + dev->reqbuf.memory = V4L2_MEMORY_MMAP; + dev->reqbuf.count = MAX_REQBUFS; + + if (-1 == host_video_ioctl(dev->fd, VIDIOC_REQBUFS, &dev->reqbuf)) + { + perror("VIDIOC_REQBUFS"); + return -errno; + } + + if (dev->reqbuf.count < 2) + { + errno = ENOMEM; + perror("Not enough buffers"); + return -ENOMEM; + } + + for (i = 0; i < dev->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 == host_video_ioctl(dev->fd, VIDIOC_QUERYBUF, &buf)) + { + perror("VIDIOC_QUERYBUF"); + return -errno; + } + + dev->addrs[i] = mmap(NULL, buf.length, PROT_READ | PROT_WRITE, + MAP_SHARED, dev->fd, buf.m.offset); + dev->buflen[i] = buf.length; + if (dev->addrs[i] == MAP_FAILED) + { + perror("Mmap failed"); Review Comment: need ummap ########## arch/sim/src/sim/posix/sim_host_v4l2.c: ########## @@ -0,0 +1,349 @@ +/**************************************************************************** + * arch/sim/src/sim/posix/sim_host_v4l2.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> + +#include "sim_hostvideo.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define MAX_REQBUFS 3 + +#define WARN(fmt, ...) \ + syslog(LOG_WARNING, "sim_host_video: " fmt "\n", ##__VA_ARGS__) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct host_video_dev_t +{ + int fd; + struct v4l2_requestbuffers reqbuf; + void *addrs[MAX_REQBUFS]; + size_t buflen[MAX_REQBUFS]; +} host_video_dev_t; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int host_video_ioctl(int fd, int request, void *arg) +{ + int r; + + do + { + r = ioctl(fd, request, arg); + } + while (-1 == r && EINTR == errno); + + return r; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +bool host_video_is_available(const char *host_video_dev_path) +{ + return (access(host_video_dev_path, F_OK) == 0); +} + +host_video_dev host_video_init(const char *host_video_dev_path) +{ + int fd; + host_video_dev vdev; + + fd = open(host_video_dev_path, O_RDWR | O_NONBLOCK); + if (fd < 0) + { + perror(host_video_dev_path); + return NULL; + } + + vdev = calloc(1, sizeof(*vdev)); + vdev->fd = fd; + return vdev; +} + +int host_video_dq_buf(host_video_dev vdev, uint8_t *addr, uint32_t size) +{ + struct v4l2_buffer buf; + host_video_dev_t *dev = (host_video_dev_t *)vdev; + + memset(&buf, 0, sizeof(buf)); + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + + /* Dequeue a buffer */ + + if (-1 == host_video_ioctl(dev->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, dev->addrs[buf.index], size); + if (-1 == ioctl(dev->fd, VIDIOC_QBUF, &buf)) + { + perror("VIDIOC_QBUF"); + return -errno; + } + + return size; +} + +int host_video_uninit(host_video_dev vdev) +{ + host_video_dev_t *dev = (host_video_dev_t *)vdev; + + if (dev != NULL) + { + close(dev->fd); + } + + free(vdev); + return 0; +} + +int host_video_start_capture(host_video_dev vdev) +{ + struct v4l2_buffer buf; + enum v4l2_buf_type type; + int i; + host_video_dev_t *dev = (host_video_dev_t *)vdev; + + /* VIDIOC_REQBUFS initiate user pointer I/O */ + + dev->reqbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + dev->reqbuf.memory = V4L2_MEMORY_MMAP; + dev->reqbuf.count = MAX_REQBUFS; + + if (-1 == host_video_ioctl(dev->fd, VIDIOC_REQBUFS, &dev->reqbuf)) + { + perror("VIDIOC_REQBUFS"); + return -errno; + } + + if (dev->reqbuf.count < 2) + { + errno = ENOMEM; + perror("Not enough buffers"); + return -ENOMEM; + } + + for (i = 0; i < dev->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 == host_video_ioctl(dev->fd, VIDIOC_QUERYBUF, &buf)) + { + perror("VIDIOC_QUERYBUF"); + return -errno; + } + + dev->addrs[i] = mmap(NULL, buf.length, PROT_READ | PROT_WRITE, + MAP_SHARED, dev->fd, buf.m.offset); + dev->buflen[i] = buf.length; + if (dev->addrs[i] == MAP_FAILED) + { + perror("Mmap failed"); + return -errno; + } + + if (-1 == host_video_ioctl(dev->fd, VIDIOC_QBUF, &buf)) + { + perror("VIDIOC_QBUF"); + return -errno; + } + } + + type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (-1 == host_video_ioctl(dev->fd, VIDIOC_STREAMON, &type)) + { + perror("VIDIOC_STREAMON"); Review Comment: ditto ########## arch/sim/src/sim/sim_video.c: ########## @@ -0,0 +1,322 @@ +/**************************************************************************** + * 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 <nuttx/video/video.h> +#include <sys/mman.h> +#include <sys/time.h> +#include <sys/ioctl.h> + +#include "sim_hostvideo.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct +{ + imgdata_capture_t capture_cb; + uint32_t buf_size; + uint8_t *next_buf; + host_video_dev vdev; +} sim_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 const char *sim_video_get_driver_name(void); +static int sim_video_validate_frame_setting(imgsensor_stream_type_t type, + uint8_t nr_datafmt, + imgsensor_format_t *datafmts, + imgsensor_interval_t *interval); +static int sim_video_start_capture(imgsensor_stream_type_t type, + uint8_t nr_datafmt, + imgsensor_format_t *datafmts, + imgsensor_interval_t *interval); +static int sim_video_stop_capture(imgsensor_stream_type_t type); + +/* 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 imgdata_fmt_to_v4l2(uint32_t pixelformat); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static const 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, +}; + +static const 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 sim_video_priv_t g_priv; Review Comment: ```suggestion static sim_video_priv_t g_sim_video_priv; ``` ########## arch/sim/src/sim/posix/sim_host_v4l2.c: ########## @@ -0,0 +1,349 @@ +/**************************************************************************** + * arch/sim/src/sim/posix/sim_host_v4l2.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> + +#include "sim_hostvideo.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define MAX_REQBUFS 3 + +#define WARN(fmt, ...) \ + syslog(LOG_WARNING, "sim_host_video: " fmt "\n", ##__VA_ARGS__) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct host_video_dev_t Review Comment: ```suggestion typedef struct host_video_dev_s ``` ########## arch/sim/src/sim/posix/sim_host_v4l2.c: ########## @@ -0,0 +1,349 @@ +/**************************************************************************** + * arch/sim/src/sim/posix/sim_host_v4l2.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> + +#include "sim_hostvideo.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define MAX_REQBUFS 3 + +#define WARN(fmt, ...) \ + syslog(LOG_WARNING, "sim_host_video: " fmt "\n", ##__VA_ARGS__) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct host_video_dev_t +{ + int fd; + struct v4l2_requestbuffers reqbuf; + void *addrs[MAX_REQBUFS]; + size_t buflen[MAX_REQBUFS]; +} host_video_dev_t; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int host_video_ioctl(int fd, int request, void *arg) +{ + int r; + + do + { + r = ioctl(fd, request, arg); + } + while (-1 == r && EINTR == errno); + + return r; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +bool host_video_is_available(const char *host_video_dev_path) +{ + return (access(host_video_dev_path, F_OK) == 0); +} + +host_video_dev host_video_init(const char *host_video_dev_path) +{ + int fd; + host_video_dev vdev; + + fd = open(host_video_dev_path, O_RDWR | O_NONBLOCK); + if (fd < 0) + { + perror(host_video_dev_path); + return NULL; + } + + vdev = calloc(1, sizeof(*vdev)); + vdev->fd = fd; + return vdev; +} + +int host_video_dq_buf(host_video_dev vdev, uint8_t *addr, uint32_t size) +{ + struct v4l2_buffer buf; + host_video_dev_t *dev = (host_video_dev_t *)vdev; + + memset(&buf, 0, sizeof(buf)); + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + + /* Dequeue a buffer */ + + if (-1 == host_video_ioctl(dev->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, dev->addrs[buf.index], size); + if (-1 == ioctl(dev->fd, VIDIOC_QBUF, &buf)) + { + perror("VIDIOC_QBUF"); + return -errno; + } + + return size; +} + +int host_video_uninit(host_video_dev vdev) +{ + host_video_dev_t *dev = (host_video_dev_t *)vdev; + + if (dev != NULL) + { + close(dev->fd); + } + + free(vdev); + return 0; +} + +int host_video_start_capture(host_video_dev vdev) +{ + struct v4l2_buffer buf; + enum v4l2_buf_type type; + int i; + host_video_dev_t *dev = (host_video_dev_t *)vdev; + + /* VIDIOC_REQBUFS initiate user pointer I/O */ + + dev->reqbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + dev->reqbuf.memory = V4L2_MEMORY_MMAP; + dev->reqbuf.count = MAX_REQBUFS; + + if (-1 == host_video_ioctl(dev->fd, VIDIOC_REQBUFS, &dev->reqbuf)) + { + perror("VIDIOC_REQBUFS"); + return -errno; + } + + if (dev->reqbuf.count < 2) + { + errno = ENOMEM; + perror("Not enough buffers"); + return -ENOMEM; + } + + for (i = 0; i < dev->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 == host_video_ioctl(dev->fd, VIDIOC_QUERYBUF, &buf)) + { + perror("VIDIOC_QUERYBUF"); + return -errno; + } + + dev->addrs[i] = mmap(NULL, buf.length, PROT_READ | PROT_WRITE, + MAP_SHARED, dev->fd, buf.m.offset); + dev->buflen[i] = buf.length; + if (dev->addrs[i] == MAP_FAILED) + { + perror("Mmap failed"); + return -errno; + } + + if (-1 == host_video_ioctl(dev->fd, VIDIOC_QBUF, &buf)) + { + perror("VIDIOC_QBUF"); Review Comment: ditto ########## arch/sim/src/sim/posix/sim_host_v4l2.c: ########## @@ -0,0 +1,349 @@ +/**************************************************************************** + * arch/sim/src/sim/posix/sim_host_v4l2.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> + +#include "sim_hostvideo.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define MAX_REQBUFS 3 + +#define WARN(fmt, ...) \ + syslog(LOG_WARNING, "sim_host_video: " fmt "\n", ##__VA_ARGS__) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +typedef struct host_video_dev_t +{ + int fd; + struct v4l2_requestbuffers reqbuf; + void *addrs[MAX_REQBUFS]; + size_t buflen[MAX_REQBUFS]; +} host_video_dev_t; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int host_video_ioctl(int fd, int request, void *arg) +{ + int r; + + do + { + r = ioctl(fd, request, arg); + } + while (-1 == r && EINTR == errno); + + return r; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +bool host_video_is_available(const char *host_video_dev_path) +{ + return (access(host_video_dev_path, F_OK) == 0); +} + +host_video_dev host_video_init(const char *host_video_dev_path) +{ + int fd; + host_video_dev vdev; + + fd = open(host_video_dev_path, O_RDWR | O_NONBLOCK); + if (fd < 0) + { + perror(host_video_dev_path); + return NULL; + } + + vdev = calloc(1, sizeof(*vdev)); + vdev->fd = fd; + return vdev; +} + +int host_video_dq_buf(host_video_dev vdev, uint8_t *addr, uint32_t size) +{ + struct v4l2_buffer buf; + host_video_dev_t *dev = (host_video_dev_t *)vdev; + + memset(&buf, 0, sizeof(buf)); + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + + /* Dequeue a buffer */ + + if (-1 == host_video_ioctl(dev->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, dev->addrs[buf.index], size); + if (-1 == ioctl(dev->fd, VIDIOC_QBUF, &buf)) + { + perror("VIDIOC_QBUF"); + return -errno; + } + + return size; +} + +int host_video_uninit(host_video_dev vdev) +{ + host_video_dev_t *dev = (host_video_dev_t *)vdev; + + if (dev != NULL) + { + close(dev->fd); + } + + free(vdev); + return 0; +} + +int host_video_start_capture(host_video_dev vdev) +{ + struct v4l2_buffer buf; + enum v4l2_buf_type type; + int i; + host_video_dev_t *dev = (host_video_dev_t *)vdev; + + /* VIDIOC_REQBUFS initiate user pointer I/O */ + + dev->reqbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + dev->reqbuf.memory = V4L2_MEMORY_MMAP; + dev->reqbuf.count = MAX_REQBUFS; + + if (-1 == host_video_ioctl(dev->fd, VIDIOC_REQBUFS, &dev->reqbuf)) + { + perror("VIDIOC_REQBUFS"); + return -errno; + } + + if (dev->reqbuf.count < 2) + { + errno = ENOMEM; + perror("Not enough buffers"); + return -ENOMEM; + } + + for (i = 0; i < dev->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 == host_video_ioctl(dev->fd, VIDIOC_QUERYBUF, &buf)) + { + perror("VIDIOC_QUERYBUF"); + return -errno; + } + + dev->addrs[i] = mmap(NULL, buf.length, PROT_READ | PROT_WRITE, + MAP_SHARED, dev->fd, buf.m.offset); + dev->buflen[i] = buf.length; + if (dev->addrs[i] == MAP_FAILED) + { + perror("Mmap failed"); + return -errno; + } + + if (-1 == host_video_ioctl(dev->fd, VIDIOC_QBUF, &buf)) + { + perror("VIDIOC_QBUF"); + return -errno; + } + } + + type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (-1 == host_video_ioctl(dev->fd, VIDIOC_STREAMON, &type)) + { + perror("VIDIOC_STREAMON"); + return -errno; + } + + return 0; +} + +int host_video_stop_capture(host_video_dev vdev) +{ + enum v4l2_buf_type type; + int i; + host_video_dev_t *dev = (host_video_dev_t *)vdev; + + type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (-1 == host_video_ioctl(dev->fd, VIDIOC_STREAMOFF, &type)) + { + perror("VIDIOC_STREAMOFF"); + return -errno; + } + + for (i = 0; i < dev->reqbuf.count; i++) Review Comment: change reqbuf to local variable in host_video_start_capture ```suggestion for (i = 0; i < MAX_REQBUFS; i++) { if (dev->addrs[i], != NULL && dev->addr[i] != MAP_FAILED) } ``` -- This is an automated message from the Apache Git Service. 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