xiaoxiang781216 commented on code in PR #1449: URL: https://github.com/apache/nuttx-apps/pull/1449#discussion_r1044234190
########## system/nxcamera/nxcamera.c: ########## @@ -0,0 +1,889 @@ +/**************************************************************************** + * apps/system/nxcamera/nxcamera.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 <nuttx/config.h> + +#include <assert.h> +#include <debug.h> +#include <dirent.h> +#include <errno.h> +#include <fcntl.h> +#include <pthread.h> +#include <stdbool.h> +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> + +#include <nuttx/queue.h> +#include <nuttx/video/video.h> +#include <nuttx/video/fb.h> +#include <sys/ioctl.h> +#include <sys/mman.h> +#include <sys/types.h> + +#include <system/nxcamera.h> + +#ifdef CONFIG_LIBYUV +# include <libyuv.h> +#endif + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define NXCAMERA_STATE_IDLE 0 +#define NXCAMERA_STATE_STREAMING 1 +#define NXCAMERA_STATE_LOOPING 2 +#define NXCAMERA_STATE_PAUSED 3 + +#ifndef MIN +# define MIN(a, b) (((a) < (b)) ? (a) : (b)) +#endif + +#define convert_frame ConvertToARGB + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int show_image(FAR struct nxcamera_s *pcam, FAR v4l2_buffer_t *buf) +{ +#ifdef CONFIG_LIBYUV + return convert_frame(pcam->bufs[buf->index], + pcam->buf_sizes[buf->index], + pcam->display_pinfo.fbmem, + pcam->display_pinfo.stride, + 0, + 0, + pcam->fmt.fmt.pix.width, + pcam->fmt.fmt.pix.height, + pcam->fmt.fmt.pix.width, + pcam->fmt.fmt.pix.height, + 0, + pcam->fmt.fmt.pix.pixelformat); +#else + uint32_t *pbuf = pcam->bufs[buf->index]; + vinfo("show image from %p: %lx %lx", pbuf, pbuf[0], pbuf[1]); + return 0; +#endif +} + +/**************************************************************************** + * Name: nxcamera_opendevice + * + * nxcamera_opendevice() tries to open the preferred devices as specified. + * + * Return: + * OK if compatible device opened (searched or preferred) + * -ENODEV if no compatible device opened. + * -ENOENT if preferred device couldn't be opened. + * + ****************************************************************************/ + +static int nxcamera_opendevice(FAR struct nxcamera_s *pcam) +{ + int errcode; + + if (pcam->capturedev[0] != '\0') + { + pcam->capture_fd = open(pcam->capturedev, O_RDWR); + if (pcam->capture_fd == -1) + { + errcode = errno; + DEBUGASSERT(errcode > 0); + + verr("ERROR: Failed to open pcam->capturedev %d\n", -errcode); + return -errcode; + } + + if (pcam->displaydev[0] != '\0') + { + pcam->display_fd = open(pcam->displaydev, O_RDWR); + if (pcam->display_fd == -1) + { + errcode = errno; + DEBUGASSERT(errcode > 0); + + close(pcam->capture_fd); + pcam->capture_fd = -1; + verr("ERROR: Failed to open pcam->displaydev %d\n", -errcode); + return -errcode; + } + + errcode = ioctl(pcam->display_fd, FBIOGET_PLANEINFO, + ((uintptr_t)&pcam->display_pinfo)); + + if (errcode == OK) + { + pcam->display_pinfo.fbmem = mmap(NULL, + pcam->display_pinfo.fblen, + PROT_READ | PROT_WRITE, + MAP_SHARED | MAP_FILE, + pcam->display_fd, + 0); + } + + if (errcode < 0 || pcam->display_pinfo.fbmem == MAP_FAILED) + { + errcode = errno; + close(pcam->capture_fd); + close(pcam->display_fd); + verr("ERROR: ioctl(FBIOGET_PLANEINFO) failed: %d\n", -errcode); + return -errcode; + } + + return OK; + } + else + { + /* TODO: Add file output */ + + return -ENOTSUP; + } + } + + return -ENODEV; +} + +/**************************************************************************** + * Name: nxcamera_loopthread + * + * This is the thread that streams the video and handles video controls. + * + ****************************************************************************/ + +static void *nxcamera_loopthread(pthread_addr_t pvarg) +{ + FAR struct nxcamera_s *pcam = (FAR struct nxcamera_s *)pvarg; + unsigned int prio; + ssize_t size; + struct video_msg_s msg; + bool streaming = true; + int i; + int ret; + struct v4l2_buffer buf; + uint32_t type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + + vinfo("Entry\n"); + + for (i = 0; i < pcam->nbuffers; i++) + { + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + buf.index = i; + ret = ioctl(pcam->capture_fd, VIDIOC_QBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_QBUF failed: %d\n", ret); + goto err_out; + } + } + + /* VIDIOC_STREAMON start stream */ + + ret = ioctl(pcam->capture_fd, VIDIOC_STREAMON, (uintptr_t)&type); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_STREAMON failed: %d\n", ret); + goto err_out; + } + else + { + pcam->loopstate = NXCAMERA_STATE_STREAMING; + } + + /* Loop until we specifically break. streaming == true means that we are + * still looping waiting for the stream to complete. All of the data + * may have been sent, but the stream is not complete until we get + * VIDEO_MSG_STOP message + * + * The normal protocol for looping errors detected by the video driver + * is as follows: + * + * (1) The video driver will indicated the error by returning a negated + * error value when the next buffer is enqueued. The upper level + * then knows that this buffer was not queued. + * (2) The video driver must return all queued buffers using the + * VIDEO_MSG_DEQUEUE message. + */ + + while (streaming) + { + size = mq_receive(pcam->mq, (FAR char *)&msg, sizeof(msg), &prio); + + /* Validate a message was received */ + + if (size == sizeof(msg)) + { + /* Perform operation based on message id */ + + vinfo("message received size %zd id%d\n", size, msg.msg_id); + switch (msg.msg_id) + { + /* Someone wants to stop the stream. */ + + case VIDEO_MSG_STOP: + + /* Send a stop message to the device */ + + vinfo("Stopping looping\n"); + ioctl(pcam->capture_fd, VIDIOC_STREAMOFF, (uintptr_t)&type); + streaming = false; + goto err_out; + + /* Unknown / unsupported message ID */ + + default: + break; + } + } + + ret = ioctl(pcam->capture_fd, VIDIOC_DQBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("Fail DQBUF %d\n", errno); + goto err_out; + } + + ret = show_image(pcam, &buf); + if (ret < 0) + { + verr("Fail to show image %d\n", -ret); + goto err_out; + } + + ret = ioctl(pcam->capture_fd, VIDIOC_QBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("Fail QBUF %d\n", errno); + goto err_out; + } + } + + /* Release our video buffers and unregister / release the device */ + +err_out: + vinfo("Clean-up and exit\n"); + + /* Cleanup */ + + pthread_mutex_lock(&pcam->mutex); /* Lock the mutex */ + + close(pcam->display_fd); /* Close the display device */ + close(pcam->capture_fd); /* Close the capture device */ + pcam->display_fd = -1; /* Mark display device as closed */ + pcam->capture_fd = -1; /* Mark capture device as closed */ + mq_close(pcam->mq); /* Close the message queue */ + mq_unlink(pcam->mqname); /* Unlink the message queue */ + pcam->loopstate = NXCAMERA_STATE_IDLE; + if (pcam->bufs) + { + for (i = 0; i < pcam->nbuffers; i++) + { + if (pcam->bufs[i] != NULL && pcam->bufs[i] != MAP_FAILED) + { + munmap(pcam->bufs[i], pcam->buf_sizes[i]); + } + } + + free(pcam->bufs); + } + + if (pcam->buf_sizes) + { + free(pcam->buf_sizes); + } + + pthread_mutex_unlock(&pcam->mutex); /* Unlock the mutex */ + + vinfo("Exit\n"); + + return NULL; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: nxcamera_setdevice + * + * nxcamera_setdevice() sets the preferred video device to use with the + * provided nxcamera context. + * + ****************************************************************************/ + +int nxcamera_setdevice(FAR struct nxcamera_s *pcam, + FAR const char *device) +{ + int temp_fd; + struct v4l2_capability caps; + + DEBUGASSERT(pcam != NULL); + DEBUGASSERT(device != NULL); + + /* Try to open the device */ + + temp_fd = open(device, O_RDWR); + if (temp_fd == -1) + { + /* Error opening the device */ + + return -errno; + } + + /* Validate it's a video device by issuing an VIDIOC_QUERYCAP ioctl */ + + if (ioctl(temp_fd, VIDIOC_QUERYCAP, (uintptr_t)&caps) != OK) + { + /* Not a video device! */ + + close(temp_fd); + return -errno; + } + + /* Close the file */ + + close(temp_fd); + + /* Save the path of the preferred device */ + + if (!(caps.capabilities & V4L2_CAP_VIDEO_CAPTURE)) + { + return -ENODEV; + } + + strlcpy(pcam->capturedev, device, sizeof(pcam->capturedev)); + return OK; +} + +/**************************************************************************** + * Name: nxcamera_setfb + * + * nxcamera_setfb() sets the output framebuffer device to use with the + * provided nxcamera context. + * + ****************************************************************************/ + +int nxcamera_setfb(FAR struct nxcamera_s *pcam, FAR const char *device) +{ + int temp_fd; + struct fb_videoinfo_s vinfo; + + DEBUGASSERT(pcam != NULL); + DEBUGASSERT(device != NULL); + + /* Try to open the device */ + + temp_fd = open(device, O_RDWR); + if (temp_fd == -1) + { + /* Error opening the device */ + + return -errno; + } + + /* Validate it's a fb device by issuing an FBIOGET_VIDEOINFO ioctl */ + + if (ioctl(temp_fd, FBIOGET_VIDEOINFO, (uintptr_t)&vinfo) != OK) + { + /* Not an Video device! */ + + close(temp_fd); + return -errno; + } + + /* Close the file */ + + close(temp_fd); + + if (vinfo.nplanes == 0) + { + return -ENODEV; + } + + /* Save the path of the framebuffer device */ + + strlcpy(pcam->displaydev, device, sizeof(pcam->displaydev)); + return OK; +} + +/**************************************************************************** + * Name: nxcamera_setfile + * + * nxcamera_setfile() sets the output file path to use with the provided + * nxcamera context. + * + ****************************************************************************/ + +int nxcamera_setfile(FAR struct nxcamera_s *pcam, FAR const char *pfile, + bool isimage) +{ + int temp_fd; + + DEBUGASSERT(pcam != NULL); + DEBUGASSERT(pfile != NULL); + + /* Try to open the file */ + + temp_fd = open(pfile, O_CREAT | O_RDWR); + if (temp_fd == -1) + { + /* Error opening the file */ + + return -errno; + } + + /* Close the file */ + + close(temp_fd); + + /* Save the path of the output file */ + + if (isimage) + { + strlcpy(pcam->oimagepath, pfile, sizeof(pcam->oimagepath)); + } + else + { + strlcpy(pcam->ovideopath, pfile, sizeof(pcam->ovideopath)); + } + + return OK; +} + +/**************************************************************************** + * Name: nxcamera_stop + * + * nxcamera_stop() stops the current playback to loop and closes the + * file and the associated device. + * + * Input: + * pcam Pointer to the initialized looper context + * + ****************************************************************************/ + +int nxcamera_stop(FAR struct nxcamera_s *pcam) +{ + struct video_msg_s term_msg; + FAR void *value; + + DEBUGASSERT(pcam != NULL); + + /* Validate we are not in IDLE state */ + + pthread_mutex_lock(&pcam->mutex); /* Lock the mutex */ + if (pcam->loopstate == NXCAMERA_STATE_IDLE) + { + pthread_mutex_unlock(&pcam->mutex); /* Unlock the mutex */ + return OK; + } + + /* Notify the stream thread that it needs to cancel the stream */ + + term_msg.msg_id = VIDEO_MSG_STOP; + term_msg.u.data = 0; + mq_send(pcam->mq, (FAR const char *)&term_msg, sizeof(term_msg), + CONFIG_NXCAMERA_MSG_PRIO); + + pthread_mutex_unlock(&pcam->mutex); + + /* Join the thread. The thread will do all the cleanup. */ + + pthread_join(pcam->loop_id, &value); + pcam->loop_id = 0; + + return OK; +} + +/**************************************************************************** + * Name: nxcamera_stream + * + * nxcamera_stream() tries to capture and then display the raw data using + * the Video system. If a capture device is specified, it will try to use + * that device. + * + * Input: + * pcam Pointer to the initialized Looper context + * width Capture frame width + * height Capture frame height + * framerate Capture frame rate + * format Capture frame pixel format + * + * Returns: + * OK Video is being looped + * -EBUSY Capture device is busy + * -ENOSYS No supported video format found + * -ENODEV No video capture or framebuffer device suitable + * + ****************************************************************************/ + +int nxcamera_stream(FAR struct nxcamera_s *pcam, + uint16_t width, uint16_t height, + uint32_t framerate, uint32_t format) +{ + struct mq_attr attr; + struct sched_param sparam; + pthread_attr_t tattr; + FAR void *value; + int ret; + int i; + struct v4l2_buffer buf; + struct v4l2_requestbuffers req; + struct v4l2_streamparm parm; + + DEBUGASSERT(pcam != NULL); + + if (pcam->loopstate != NXCAMERA_STATE_IDLE) + { + return -EBUSY; + } + + vinfo("==============================\n"); + vinfo("streaming video\n"); + vinfo("==============================\n"); + + /* Try to open the device */ + + ret = nxcamera_opendevice(pcam); + if (ret < 0) + { + /* Error opening the device */ + + verr("ERROR: nxcamera_opendevice failed: %d\n", ret); + return ret; + } + + /* VIDIOC_S_FMT set format */ + + pcam->fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + pcam->fmt.fmt.pix.width = width; + pcam->fmt.fmt.pix.height = height; + pcam->fmt.fmt.pix.field = V4L2_FIELD_ANY; + pcam->fmt.fmt.pix.pixelformat = format; + + ret = ioctl(pcam->capture_fd, VIDIOC_S_FMT, (uintptr_t)&pcam->fmt); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_S_FMT failed: %d\n", ret); + return ret; + } + + memset(&parm, 0, sizeof(parm)); + parm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + parm.parm.capture.timeperframe.denominator = framerate; + parm.parm.capture.timeperframe.numerator = 1; + ret = ioctl(pcam->capture_fd, VIDIOC_S_PARM, (uintptr_t)&parm); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_S_PARM failed: %d\n", ret); + return ret; + } + + /* VIDIOC_REQBUFS initiate user pointer I/O */ + + req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + req.memory = V4L2_MEMORY_MMAP; + req.count = CONFIG_VIDEO_REQBUFS_COUNT_MAX; + + ret = ioctl(pcam->capture_fd, VIDIOC_REQBUFS, (uintptr_t)&req); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_REQBUFS failed: %d\n", ret); + return ret; + } + + if (req.count < 2) + { + verr("VIDIOC_REQBUFS failed: not enough buffers\n"); + return -ENOMEM; + } + + pcam->nbuffers = req.count; + pcam->bufs = calloc(req.count, sizeof(*pcam->bufs)); + pcam->buf_sizes = calloc(req.count, sizeof(*pcam->buf_sizes)); + if (!pcam->bufs || !pcam->buf_sizes) + { + verr("Cannot allocate buffer pointers\n"); + ret = -ENOMEM; + goto err_out; + } + + /* VIDIOC_QBUF enqueue buffer */ + + for (i = 0; i < req.count; i++) + { + buf.type = req.type; + buf.memory = V4L2_MEMORY_MMAP; + buf.index = i; + ret = ioctl(pcam->capture_fd, VIDIOC_QUERYBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_QUERYBUF failed: %d\n", ret); + goto err_out; + } + + pcam->bufs[i] = mmap(NULL, buf.length, + PROT_READ | PROT_WRITE, MAP_SHARED, + pcam->capture_fd, buf.m.offset); + if (pcam->bufs[i] == MAP_FAILED) + { + ret = -errno; + verr("MMAP failed\n"); + goto err_out; + } + + pcam->buf_sizes[i] = buf.length; + } + + /* Create a message queue for the loopthread */ + + attr.mq_maxmsg = 8; + attr.mq_msgsize = sizeof(struct video_msg_s); + attr.mq_curmsgs = 0; + attr.mq_flags = 0; + + snprintf(pcam->mqname, sizeof(pcam->mqname), "/tmp/%lx", + (unsigned long)((uintptr_t)pcam) & 0xffffffff); + + pcam->mq = mq_open(pcam->mqname, O_RDWR | O_CREAT | O_NONBLOCK, 0644, + &attr); + if (pcam->mq == (mqd_t)-1) + { + /* Unable to open message queue! */ + + ret = -errno; + verr("ERROR: mq_open failed: %d\n", ret); + goto err_out; + } + + /* Check if there was a previous thread and join it if there was + * to perform clean-up. + */ + + if (pcam->loop_id != 0) + { + pthread_join(pcam->loop_id, &value); + } + + pthread_attr_init(&tattr); + sparam.sched_priority = sched_get_priority_max(SCHED_FIFO) - 9; + pthread_attr_setschedparam(&tattr, &sparam); + pthread_attr_setstacksize(&tattr, CONFIG_NXCAMERA_LOOPTHREAD_STACKSIZE); + + /* Add a reference count to the looper for the thread and start the + * thread. We increment for the thread to avoid thread start-up + * race conditions. + */ + + nxcamera_reference(pcam); + ret = pthread_create(&pcam->loop_id, &tattr, nxcamera_loopthread, + (pthread_addr_t)pcam); + pthread_attr_destroy(&tattr); + if (ret != OK) + { + ret = -ret; + verr("ERROR: Failed to create loopthread: %d\n", ret); + goto err_out; + } + + /* Name the thread */ + + pthread_setname_np(pcam->loop_id, "nxcameraloop"); + return OK; + +err_out: + if (pcam->bufs) + { + for (i = 0; i < pcam->nbuffers; i++) + { + if (pcam->bufs[i] != NULL && pcam->bufs[i] != MAP_FAILED) + { + munmap(pcam->bufs[i], pcam->buf_sizes[i]); + } + } + + free(pcam->bufs); + } + + if (pcam->buf_sizes) + { + free(pcam->buf_sizes); + } + + return ret; +} + +/**************************************************************************** + * Name: nxcamera_create + * + * nxcamera_create() allocates and initializes a nxcamera context for + * use by further nxcamera operations. This routine must be called before + * to perform the create for proper reference counting. + * + * Input Parameters: None + * + * Returned values: + * Pointer to the created context or NULL if there was an error. + * + ****************************************************************************/ + +FAR struct nxcamera_s *nxcamera_create(void) +{ + FAR struct nxcamera_s *pcam; + int err; + + /* Allocate the memory */ + + pcam = (FAR struct nxcamera_s *)calloc(1, sizeof(struct nxcamera_s)); + if (pcam == NULL) + { + return NULL; + } + + /* Initialize the context data */ + + pcam->loopstate = NXCAMERA_STATE_IDLE; + pcam->display_fd = -1; + pcam->capture_fd = -1; + err = pthread_mutex_init(&pcam->mutex, NULL); + if (err) + { + verr("ERROR: pthread_mutex_init failed: %d\n", err); + free(pcam); + pcam = NULL; + } + + return pcam; +} + +/**************************************************************************** + * Name: nxcamera_release + * + * nxcamera_release() reduces the reference count by one and if it + * reaches zero, frees the context. + * + * Input Parameters: + * pcam Pointer to the NxCamera context + * + * Returned values: None + * + ****************************************************************************/ + +void nxcamera_release(FAR struct nxcamera_s *pcam) +{ + int refcount; + FAR void *value; + int errcode; + + /* Lock the mutex */ + + while ((errcode = pthread_mutex_trylock(&pcam->mutex))) Review Comment: why not use pthread_mutex_lock and remove errcode ########## system/nxcamera/nxcamera.c: ########## @@ -0,0 +1,889 @@ +/**************************************************************************** + * apps/system/nxcamera/nxcamera.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 <nuttx/config.h> + +#include <assert.h> +#include <debug.h> +#include <dirent.h> +#include <errno.h> +#include <fcntl.h> +#include <pthread.h> +#include <stdbool.h> +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> + +#include <nuttx/queue.h> +#include <nuttx/video/video.h> +#include <nuttx/video/fb.h> +#include <sys/ioctl.h> +#include <sys/mman.h> +#include <sys/types.h> + +#include <system/nxcamera.h> + +#ifdef CONFIG_LIBYUV +# include <libyuv.h> +#endif + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define NXCAMERA_STATE_IDLE 0 +#define NXCAMERA_STATE_STREAMING 1 +#define NXCAMERA_STATE_LOOPING 2 +#define NXCAMERA_STATE_PAUSED 3 + +#ifndef MIN +# define MIN(a, b) (((a) < (b)) ? (a) : (b)) +#endif + +#define convert_frame ConvertToARGB + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int show_image(FAR struct nxcamera_s *pcam, FAR v4l2_buffer_t *buf) +{ +#ifdef CONFIG_LIBYUV + return convert_frame(pcam->bufs[buf->index], + pcam->buf_sizes[buf->index], + pcam->display_pinfo.fbmem, + pcam->display_pinfo.stride, + 0, + 0, + pcam->fmt.fmt.pix.width, + pcam->fmt.fmt.pix.height, + pcam->fmt.fmt.pix.width, + pcam->fmt.fmt.pix.height, + 0, + pcam->fmt.fmt.pix.pixelformat); +#else + uint32_t *pbuf = pcam->bufs[buf->index]; + vinfo("show image from %p: %lx %lx", pbuf, pbuf[0], pbuf[1]); + return 0; +#endif +} + +/**************************************************************************** + * Name: nxcamera_opendevice + * + * nxcamera_opendevice() tries to open the preferred devices as specified. + * + * Return: + * OK if compatible device opened (searched or preferred) + * -ENODEV if no compatible device opened. + * -ENOENT if preferred device couldn't be opened. + * + ****************************************************************************/ + +static int nxcamera_opendevice(FAR struct nxcamera_s *pcam) +{ + int errcode; + + if (pcam->capturedev[0] != '\0') + { + pcam->capture_fd = open(pcam->capturedev, O_RDWR); + if (pcam->capture_fd == -1) + { + errcode = errno; + DEBUGASSERT(errcode > 0); + + verr("ERROR: Failed to open pcam->capturedev %d\n", -errcode); + return -errcode; + } + + if (pcam->displaydev[0] != '\0') + { + pcam->display_fd = open(pcam->displaydev, O_RDWR); + if (pcam->display_fd == -1) + { + errcode = errno; + DEBUGASSERT(errcode > 0); + + close(pcam->capture_fd); + pcam->capture_fd = -1; + verr("ERROR: Failed to open pcam->displaydev %d\n", -errcode); + return -errcode; + } + + errcode = ioctl(pcam->display_fd, FBIOGET_PLANEINFO, + ((uintptr_t)&pcam->display_pinfo)); + + if (errcode == OK) + { + pcam->display_pinfo.fbmem = mmap(NULL, + pcam->display_pinfo.fblen, + PROT_READ | PROT_WRITE, + MAP_SHARED | MAP_FILE, + pcam->display_fd, + 0); + } + + if (errcode < 0 || pcam->display_pinfo.fbmem == MAP_FAILED) + { + errcode = errno; + close(pcam->capture_fd); + close(pcam->display_fd); + verr("ERROR: ioctl(FBIOGET_PLANEINFO) failed: %d\n", -errcode); + return -errcode; + } + + return OK; + } + else + { + /* TODO: Add file output */ + + return -ENOTSUP; + } + } + + return -ENODEV; +} + +/**************************************************************************** + * Name: nxcamera_loopthread + * + * This is the thread that streams the video and handles video controls. + * + ****************************************************************************/ + +static void *nxcamera_loopthread(pthread_addr_t pvarg) +{ + FAR struct nxcamera_s *pcam = (FAR struct nxcamera_s *)pvarg; + unsigned int prio; + ssize_t size; + struct video_msg_s msg; + bool streaming = true; + int i; + int ret; + struct v4l2_buffer buf; + uint32_t type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + + vinfo("Entry\n"); + + for (i = 0; i < pcam->nbuffers; i++) + { + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + buf.index = i; + ret = ioctl(pcam->capture_fd, VIDIOC_QBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_QBUF failed: %d\n", ret); + goto err_out; + } + } + + /* VIDIOC_STREAMON start stream */ + + ret = ioctl(pcam->capture_fd, VIDIOC_STREAMON, (uintptr_t)&type); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_STREAMON failed: %d\n", ret); + goto err_out; + } + else + { + pcam->loopstate = NXCAMERA_STATE_STREAMING; + } + + /* Loop until we specifically break. streaming == true means that we are + * still looping waiting for the stream to complete. All of the data + * may have been sent, but the stream is not complete until we get + * VIDEO_MSG_STOP message + * + * The normal protocol for looping errors detected by the video driver + * is as follows: + * + * (1) The video driver will indicated the error by returning a negated + * error value when the next buffer is enqueued. The upper level + * then knows that this buffer was not queued. + * (2) The video driver must return all queued buffers using the + * VIDEO_MSG_DEQUEUE message. + */ + + while (streaming) + { + size = mq_receive(pcam->mq, (FAR char *)&msg, sizeof(msg), &prio); + + /* Validate a message was received */ + + if (size == sizeof(msg)) + { + /* Perform operation based on message id */ + + vinfo("message received size %zd id%d\n", size, msg.msg_id); + switch (msg.msg_id) + { + /* Someone wants to stop the stream. */ + + case VIDEO_MSG_STOP: + + /* Send a stop message to the device */ + + vinfo("Stopping looping\n"); + ioctl(pcam->capture_fd, VIDIOC_STREAMOFF, (uintptr_t)&type); + streaming = false; + goto err_out; + + /* Unknown / unsupported message ID */ + + default: + break; + } + } + + ret = ioctl(pcam->capture_fd, VIDIOC_DQBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("Fail DQBUF %d\n", errno); + goto err_out; + } + + ret = show_image(pcam, &buf); + if (ret < 0) + { + verr("Fail to show image %d\n", -ret); + goto err_out; + } + + ret = ioctl(pcam->capture_fd, VIDIOC_QBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("Fail QBUF %d\n", errno); + goto err_out; + } + } + + /* Release our video buffers and unregister / release the device */ + +err_out: + vinfo("Clean-up and exit\n"); + + /* Cleanup */ + + pthread_mutex_lock(&pcam->mutex); /* Lock the mutex */ + + close(pcam->display_fd); /* Close the display device */ + close(pcam->capture_fd); /* Close the capture device */ + pcam->display_fd = -1; /* Mark display device as closed */ + pcam->capture_fd = -1; /* Mark capture device as closed */ + mq_close(pcam->mq); /* Close the message queue */ + mq_unlink(pcam->mqname); /* Unlink the message queue */ + pcam->loopstate = NXCAMERA_STATE_IDLE; + if (pcam->bufs) + { + for (i = 0; i < pcam->nbuffers; i++) + { + if (pcam->bufs[i] != NULL && pcam->bufs[i] != MAP_FAILED) + { + munmap(pcam->bufs[i], pcam->buf_sizes[i]); + } + } + + free(pcam->bufs); + } + + if (pcam->buf_sizes) + { + free(pcam->buf_sizes); + } + + pthread_mutex_unlock(&pcam->mutex); /* Unlock the mutex */ + + vinfo("Exit\n"); + + return NULL; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: nxcamera_setdevice + * + * nxcamera_setdevice() sets the preferred video device to use with the + * provided nxcamera context. + * + ****************************************************************************/ + +int nxcamera_setdevice(FAR struct nxcamera_s *pcam, + FAR const char *device) +{ + int temp_fd; + struct v4l2_capability caps; + + DEBUGASSERT(pcam != NULL); + DEBUGASSERT(device != NULL); + + /* Try to open the device */ + + temp_fd = open(device, O_RDWR); + if (temp_fd == -1) + { + /* Error opening the device */ + + return -errno; + } + + /* Validate it's a video device by issuing an VIDIOC_QUERYCAP ioctl */ + + if (ioctl(temp_fd, VIDIOC_QUERYCAP, (uintptr_t)&caps) != OK) + { + /* Not a video device! */ + + close(temp_fd); + return -errno; + } + + /* Close the file */ + + close(temp_fd); + + /* Save the path of the preferred device */ + + if (!(caps.capabilities & V4L2_CAP_VIDEO_CAPTURE)) + { + return -ENODEV; + } + + strlcpy(pcam->capturedev, device, sizeof(pcam->capturedev)); + return OK; +} + +/**************************************************************************** + * Name: nxcamera_setfb + * + * nxcamera_setfb() sets the output framebuffer device to use with the + * provided nxcamera context. + * + ****************************************************************************/ + +int nxcamera_setfb(FAR struct nxcamera_s *pcam, FAR const char *device) +{ + int temp_fd; + struct fb_videoinfo_s vinfo; + + DEBUGASSERT(pcam != NULL); + DEBUGASSERT(device != NULL); + + /* Try to open the device */ + + temp_fd = open(device, O_RDWR); + if (temp_fd == -1) + { + /* Error opening the device */ + + return -errno; + } + + /* Validate it's a fb device by issuing an FBIOGET_VIDEOINFO ioctl */ + + if (ioctl(temp_fd, FBIOGET_VIDEOINFO, (uintptr_t)&vinfo) != OK) + { + /* Not an Video device! */ + + close(temp_fd); + return -errno; + } + + /* Close the file */ + + close(temp_fd); + + if (vinfo.nplanes == 0) + { + return -ENODEV; + } + + /* Save the path of the framebuffer device */ + + strlcpy(pcam->displaydev, device, sizeof(pcam->displaydev)); + return OK; +} + +/**************************************************************************** + * Name: nxcamera_setfile + * + * nxcamera_setfile() sets the output file path to use with the provided + * nxcamera context. + * + ****************************************************************************/ + +int nxcamera_setfile(FAR struct nxcamera_s *pcam, FAR const char *pfile, + bool isimage) +{ + int temp_fd; + + DEBUGASSERT(pcam != NULL); + DEBUGASSERT(pfile != NULL); + + /* Try to open the file */ + + temp_fd = open(pfile, O_CREAT | O_RDWR); + if (temp_fd == -1) + { + /* Error opening the file */ + + return -errno; + } + + /* Close the file */ + + close(temp_fd); + + /* Save the path of the output file */ + + if (isimage) + { + strlcpy(pcam->oimagepath, pfile, sizeof(pcam->oimagepath)); + } + else + { + strlcpy(pcam->ovideopath, pfile, sizeof(pcam->ovideopath)); + } + + return OK; +} + +/**************************************************************************** + * Name: nxcamera_stop + * + * nxcamera_stop() stops the current playback to loop and closes the + * file and the associated device. + * + * Input: + * pcam Pointer to the initialized looper context + * + ****************************************************************************/ + +int nxcamera_stop(FAR struct nxcamera_s *pcam) +{ + struct video_msg_s term_msg; + FAR void *value; + + DEBUGASSERT(pcam != NULL); + + /* Validate we are not in IDLE state */ + + pthread_mutex_lock(&pcam->mutex); /* Lock the mutex */ + if (pcam->loopstate == NXCAMERA_STATE_IDLE) + { + pthread_mutex_unlock(&pcam->mutex); /* Unlock the mutex */ + return OK; + } + + /* Notify the stream thread that it needs to cancel the stream */ + + term_msg.msg_id = VIDEO_MSG_STOP; + term_msg.u.data = 0; + mq_send(pcam->mq, (FAR const char *)&term_msg, sizeof(term_msg), + CONFIG_NXCAMERA_MSG_PRIO); + + pthread_mutex_unlock(&pcam->mutex); + + /* Join the thread. The thread will do all the cleanup. */ + + pthread_join(pcam->loop_id, &value); + pcam->loop_id = 0; + + return OK; +} + +/**************************************************************************** + * Name: nxcamera_stream + * + * nxcamera_stream() tries to capture and then display the raw data using + * the Video system. If a capture device is specified, it will try to use + * that device. + * + * Input: + * pcam Pointer to the initialized Looper context + * width Capture frame width + * height Capture frame height + * framerate Capture frame rate + * format Capture frame pixel format + * + * Returns: + * OK Video is being looped + * -EBUSY Capture device is busy + * -ENOSYS No supported video format found + * -ENODEV No video capture or framebuffer device suitable + * + ****************************************************************************/ + +int nxcamera_stream(FAR struct nxcamera_s *pcam, + uint16_t width, uint16_t height, + uint32_t framerate, uint32_t format) +{ + struct mq_attr attr; + struct sched_param sparam; + pthread_attr_t tattr; + FAR void *value; + int ret; + int i; + struct v4l2_buffer buf; + struct v4l2_requestbuffers req; + struct v4l2_streamparm parm; + + DEBUGASSERT(pcam != NULL); + + if (pcam->loopstate != NXCAMERA_STATE_IDLE) + { + return -EBUSY; + } + + vinfo("==============================\n"); + vinfo("streaming video\n"); + vinfo("==============================\n"); + + /* Try to open the device */ + + ret = nxcamera_opendevice(pcam); + if (ret < 0) + { + /* Error opening the device */ + + verr("ERROR: nxcamera_opendevice failed: %d\n", ret); + return ret; + } + + /* VIDIOC_S_FMT set format */ + + pcam->fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + pcam->fmt.fmt.pix.width = width; + pcam->fmt.fmt.pix.height = height; + pcam->fmt.fmt.pix.field = V4L2_FIELD_ANY; + pcam->fmt.fmt.pix.pixelformat = format; + + ret = ioctl(pcam->capture_fd, VIDIOC_S_FMT, (uintptr_t)&pcam->fmt); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_S_FMT failed: %d\n", ret); + return ret; + } + + memset(&parm, 0, sizeof(parm)); + parm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + parm.parm.capture.timeperframe.denominator = framerate; + parm.parm.capture.timeperframe.numerator = 1; + ret = ioctl(pcam->capture_fd, VIDIOC_S_PARM, (uintptr_t)&parm); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_S_PARM failed: %d\n", ret); + return ret; + } + + /* VIDIOC_REQBUFS initiate user pointer I/O */ + + req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + req.memory = V4L2_MEMORY_MMAP; + req.count = CONFIG_VIDEO_REQBUFS_COUNT_MAX; + + ret = ioctl(pcam->capture_fd, VIDIOC_REQBUFS, (uintptr_t)&req); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_REQBUFS failed: %d\n", ret); + return ret; + } + + if (req.count < 2) + { + verr("VIDIOC_REQBUFS failed: not enough buffers\n"); + return -ENOMEM; + } + + pcam->nbuffers = req.count; + pcam->bufs = calloc(req.count, sizeof(*pcam->bufs)); + pcam->buf_sizes = calloc(req.count, sizeof(*pcam->buf_sizes)); + if (!pcam->bufs || !pcam->buf_sizes) + { + verr("Cannot allocate buffer pointers\n"); + ret = -ENOMEM; + goto err_out; + } + + /* VIDIOC_QBUF enqueue buffer */ + + for (i = 0; i < req.count; i++) + { + buf.type = req.type; + buf.memory = V4L2_MEMORY_MMAP; + buf.index = i; + ret = ioctl(pcam->capture_fd, VIDIOC_QUERYBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_QUERYBUF failed: %d\n", ret); + goto err_out; + } + + pcam->bufs[i] = mmap(NULL, buf.length, + PROT_READ | PROT_WRITE, MAP_SHARED, + pcam->capture_fd, buf.m.offset); + if (pcam->bufs[i] == MAP_FAILED) + { + ret = -errno; + verr("MMAP failed\n"); + goto err_out; + } + + pcam->buf_sizes[i] = buf.length; + } + + /* Create a message queue for the loopthread */ + + attr.mq_maxmsg = 8; + attr.mq_msgsize = sizeof(struct video_msg_s); + attr.mq_curmsgs = 0; + attr.mq_flags = 0; + + snprintf(pcam->mqname, sizeof(pcam->mqname), "/tmp/%lx", + (unsigned long)((uintptr_t)pcam) & 0xffffffff); + + pcam->mq = mq_open(pcam->mqname, O_RDWR | O_CREAT | O_NONBLOCK, 0644, + &attr); + if (pcam->mq == (mqd_t)-1) + { + /* Unable to open message queue! */ + + ret = -errno; + verr("ERROR: mq_open failed: %d\n", ret); + goto err_out; + } + + /* Check if there was a previous thread and join it if there was + * to perform clean-up. + */ + + if (pcam->loop_id != 0) + { + pthread_join(pcam->loop_id, &value); + } + + pthread_attr_init(&tattr); + sparam.sched_priority = sched_get_priority_max(SCHED_FIFO) - 9; + pthread_attr_setschedparam(&tattr, &sparam); + pthread_attr_setstacksize(&tattr, CONFIG_NXCAMERA_LOOPTHREAD_STACKSIZE); + + /* Add a reference count to the looper for the thread and start the + * thread. We increment for the thread to avoid thread start-up + * race conditions. + */ + + nxcamera_reference(pcam); + ret = pthread_create(&pcam->loop_id, &tattr, nxcamera_loopthread, + (pthread_addr_t)pcam); + pthread_attr_destroy(&tattr); + if (ret != OK) + { + ret = -ret; + verr("ERROR: Failed to create loopthread: %d\n", ret); + goto err_out; + } + + /* Name the thread */ + + pthread_setname_np(pcam->loop_id, "nxcameraloop"); + return OK; + +err_out: + if (pcam->bufs) + { + for (i = 0; i < pcam->nbuffers; i++) + { + if (pcam->bufs[i] != NULL && pcam->bufs[i] != MAP_FAILED) + { + munmap(pcam->bufs[i], pcam->buf_sizes[i]); + } + } + + free(pcam->bufs); + } + + if (pcam->buf_sizes) + { + free(pcam->buf_sizes); + } + + return ret; +} + +/**************************************************************************** + * Name: nxcamera_create + * + * nxcamera_create() allocates and initializes a nxcamera context for + * use by further nxcamera operations. This routine must be called before + * to perform the create for proper reference counting. + * + * Input Parameters: None + * + * Returned values: + * Pointer to the created context or NULL if there was an error. + * + ****************************************************************************/ + +FAR struct nxcamera_s *nxcamera_create(void) +{ + FAR struct nxcamera_s *pcam; + int err; + + /* Allocate the memory */ + + pcam = (FAR struct nxcamera_s *)calloc(1, sizeof(struct nxcamera_s)); + if (pcam == NULL) + { + return NULL; + } + + /* Initialize the context data */ + + pcam->loopstate = NXCAMERA_STATE_IDLE; + pcam->display_fd = -1; + pcam->capture_fd = -1; + err = pthread_mutex_init(&pcam->mutex, NULL); + if (err) + { + verr("ERROR: pthread_mutex_init failed: %d\n", err); + free(pcam); + pcam = NULL; + } + + return pcam; +} + +/**************************************************************************** + * Name: nxcamera_release + * + * nxcamera_release() reduces the reference count by one and if it + * reaches zero, frees the context. + * + * Input Parameters: + * pcam Pointer to the NxCamera context + * + * Returned values: None + * + ****************************************************************************/ + +void nxcamera_release(FAR struct nxcamera_s *pcam) +{ + int refcount; + FAR void *value; + int errcode; + + /* Lock the mutex */ + + while ((errcode = pthread_mutex_trylock(&pcam->mutex))) + { + DEBUGASSERT(errcode > 0); + + if (errcode != EBUSY) + { + verr("ERROR: pthread_mutex_trylock failed: %d\n", errcode); + return; + } + } + + /* Check if there was a previous thread and join it if there was */ + + if (pcam->loop_id != 0) + { + pthread_mutex_unlock(&pcam->mutex); + pthread_join(pcam->loop_id, &value); + pcam->loop_id = 0; + + while ((errcode = pthread_mutex_trylock(&pcam->mutex))) + { + DEBUGASSERT(errcode > 0); + + if (errcode != EBUSY) + { + verr("ERROR: pthread_mutex_trylock failed: %d\n", errcode); + return; + } + } + } + + /* Reduce the reference count */ + + refcount = pcam->crefs--; + pthread_mutex_unlock(&pcam->mutex); + + /* If the ref count *was* one, then free the context */ + + if (refcount == 1) + { + pthread_mutex_destroy(&pcam->mutex); + free(pcam); + } +} + +/**************************************************************************** + * Name: nxcamera_reference + * + * nxcamera_reference() increments the reference count by one. + * + * Input Parameters: + * pcam Pointer to the NxCamera context + * + * Returned values: None + * + ****************************************************************************/ + +void nxcamera_reference(FAR struct nxcamera_s *pcam) +{ + int errcode; + + /* Lock the mutex */ + + while ((errcode = pthread_mutex_trylock(&pcam->mutex))) Review Comment: why not use pthread_mutex_lock and remove errcode ########## include/system/nxcamera.h: ########## @@ -0,0 +1,254 @@ +/**************************************************************************** + * apps/include/system/nxcamera.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 __APPS_INCLUDE_SYSTEM_NXCAMERA_H +#define __APPS_INCLUDE_SYSTEM_NXCAMERA_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <nuttx/video/video.h> +#include <nuttx/video/fb.h> +#include <mqueue.h> +#include <pthread.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Standard Video Message Queue message IDs */ + +#define VIDEO_MSG_NONE 0 +#define VIDEO_MSG_STOP 1 + +/**************************************************************************** + * Public Type Declarations + ****************************************************************************/ + +/* This structure describes the internal state of the nxcamera */ + +struct nxcamera_s +{ + int loopstate; /* Current looper test state */ + int capture_fd; /* File descriptor of active + * capture device */ + char capturedev[CONFIG_NAME_MAX]; /* Preferred capture device */ + int display_fd; /* File descriptor of active + * display device */ + char displaydev[CONFIG_NAME_MAX]; /* Display framebuffer device */ + struct fb_planeinfo_s display_pinfo; /* Display plane info */ + char ovideopath[CONFIG_NAME_MAX]; /* Output video file path */ + char oimagepath[CONFIG_NAME_MAX]; /* Output image file path */ Review Comment: ```suggestion char imagepath[CONFIG_NAME_MAX]; /* Output image file path */ ``` ########## include/system/nxcamera.h: ########## @@ -0,0 +1,254 @@ +/**************************************************************************** + * apps/include/system/nxcamera.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 __APPS_INCLUDE_SYSTEM_NXCAMERA_H +#define __APPS_INCLUDE_SYSTEM_NXCAMERA_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <nuttx/video/video.h> +#include <nuttx/video/fb.h> +#include <mqueue.h> +#include <pthread.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Standard Video Message Queue message IDs */ + +#define VIDEO_MSG_NONE 0 +#define VIDEO_MSG_STOP 1 + +/**************************************************************************** + * Public Type Declarations + ****************************************************************************/ + +/* This structure describes the internal state of the nxcamera */ + +struct nxcamera_s +{ + int loopstate; /* Current looper test state */ + int capture_fd; /* File descriptor of active + * capture device */ + char capturedev[CONFIG_NAME_MAX]; /* Preferred capture device */ + int display_fd; /* File descriptor of active + * display device */ + char displaydev[CONFIG_NAME_MAX]; /* Display framebuffer device */ + struct fb_planeinfo_s display_pinfo; /* Display plane info */ + char ovideopath[CONFIG_NAME_MAX]; /* Output video file path */ Review Comment: ```suggestion char videopath[CONFIG_NAME_MAX]; /* Output video file path */ ``` ########## system/nxcamera/nxcamera.c: ########## @@ -0,0 +1,889 @@ +/**************************************************************************** + * apps/system/nxcamera/nxcamera.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 <nuttx/config.h> + +#include <assert.h> +#include <debug.h> +#include <dirent.h> +#include <errno.h> +#include <fcntl.h> +#include <pthread.h> +#include <stdbool.h> +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> + +#include <nuttx/queue.h> +#include <nuttx/video/video.h> +#include <nuttx/video/fb.h> +#include <sys/ioctl.h> +#include <sys/mman.h> +#include <sys/types.h> + +#include <system/nxcamera.h> + +#ifdef CONFIG_LIBYUV +# include <libyuv.h> +#endif + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define NXCAMERA_STATE_IDLE 0 +#define NXCAMERA_STATE_STREAMING 1 +#define NXCAMERA_STATE_LOOPING 2 +#define NXCAMERA_STATE_PAUSED 3 + +#ifndef MIN +# define MIN(a, b) (((a) < (b)) ? (a) : (b)) +#endif + +#define convert_frame ConvertToARGB + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int show_image(FAR struct nxcamera_s *pcam, FAR v4l2_buffer_t *buf) +{ +#ifdef CONFIG_LIBYUV + return convert_frame(pcam->bufs[buf->index], + pcam->buf_sizes[buf->index], + pcam->display_pinfo.fbmem, + pcam->display_pinfo.stride, + 0, + 0, + pcam->fmt.fmt.pix.width, + pcam->fmt.fmt.pix.height, + pcam->fmt.fmt.pix.width, + pcam->fmt.fmt.pix.height, + 0, + pcam->fmt.fmt.pix.pixelformat); +#else + uint32_t *pbuf = pcam->bufs[buf->index]; + vinfo("show image from %p: %lx %lx", pbuf, pbuf[0], pbuf[1]); + return 0; +#endif +} + +/**************************************************************************** + * Name: nxcamera_opendevice + * + * nxcamera_opendevice() tries to open the preferred devices as specified. + * + * Return: + * OK if compatible device opened (searched or preferred) + * -ENODEV if no compatible device opened. + * -ENOENT if preferred device couldn't be opened. + * + ****************************************************************************/ + +static int nxcamera_opendevice(FAR struct nxcamera_s *pcam) +{ + int errcode; + + if (pcam->capturedev[0] != '\0') + { + pcam->capture_fd = open(pcam->capturedev, O_RDWR); + if (pcam->capture_fd == -1) + { + errcode = errno; + DEBUGASSERT(errcode > 0); + + verr("ERROR: Failed to open pcam->capturedev %d\n", -errcode); + return -errcode; + } + + if (pcam->displaydev[0] != '\0') + { + pcam->display_fd = open(pcam->displaydev, O_RDWR); + if (pcam->display_fd == -1) + { + errcode = errno; + DEBUGASSERT(errcode > 0); + + close(pcam->capture_fd); + pcam->capture_fd = -1; + verr("ERROR: Failed to open pcam->displaydev %d\n", -errcode); + return -errcode; + } + + errcode = ioctl(pcam->display_fd, FBIOGET_PLANEINFO, + ((uintptr_t)&pcam->display_pinfo)); + + if (errcode == OK) + { + pcam->display_pinfo.fbmem = mmap(NULL, + pcam->display_pinfo.fblen, + PROT_READ | PROT_WRITE, + MAP_SHARED | MAP_FILE, + pcam->display_fd, + 0); + } + + if (errcode < 0 || pcam->display_pinfo.fbmem == MAP_FAILED) + { + errcode = errno; + close(pcam->capture_fd); + close(pcam->display_fd); + verr("ERROR: ioctl(FBIOGET_PLANEINFO) failed: %d\n", -errcode); + return -errcode; + } + + return OK; + } + else + { + /* TODO: Add file output */ + + return -ENOTSUP; + } + } + + return -ENODEV; +} + +/**************************************************************************** + * Name: nxcamera_loopthread + * + * This is the thread that streams the video and handles video controls. + * + ****************************************************************************/ + +static void *nxcamera_loopthread(pthread_addr_t pvarg) +{ + FAR struct nxcamera_s *pcam = (FAR struct nxcamera_s *)pvarg; + unsigned int prio; + ssize_t size; + struct video_msg_s msg; + bool streaming = true; + int i; + int ret; + struct v4l2_buffer buf; + uint32_t type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + + vinfo("Entry\n"); + + for (i = 0; i < pcam->nbuffers; i++) + { + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + buf.index = i; + ret = ioctl(pcam->capture_fd, VIDIOC_QBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_QBUF failed: %d\n", ret); + goto err_out; + } + } + + /* VIDIOC_STREAMON start stream */ + + ret = ioctl(pcam->capture_fd, VIDIOC_STREAMON, (uintptr_t)&type); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_STREAMON failed: %d\n", ret); + goto err_out; + } + else + { + pcam->loopstate = NXCAMERA_STATE_STREAMING; + } + + /* Loop until we specifically break. streaming == true means that we are + * still looping waiting for the stream to complete. All of the data + * may have been sent, but the stream is not complete until we get + * VIDEO_MSG_STOP message + * + * The normal protocol for looping errors detected by the video driver + * is as follows: + * + * (1) The video driver will indicated the error by returning a negated + * error value when the next buffer is enqueued. The upper level + * then knows that this buffer was not queued. + * (2) The video driver must return all queued buffers using the + * VIDEO_MSG_DEQUEUE message. + */ + + while (streaming) + { + size = mq_receive(pcam->mq, (FAR char *)&msg, sizeof(msg), &prio); + + /* Validate a message was received */ + + if (size == sizeof(msg)) + { + /* Perform operation based on message id */ + + vinfo("message received size %zd id%d\n", size, msg.msg_id); + switch (msg.msg_id) + { + /* Someone wants to stop the stream. */ + + case VIDEO_MSG_STOP: + + /* Send a stop message to the device */ + + vinfo("Stopping looping\n"); + ioctl(pcam->capture_fd, VIDIOC_STREAMOFF, (uintptr_t)&type); + streaming = false; + goto err_out; + + /* Unknown / unsupported message ID */ + + default: + break; + } + } + + ret = ioctl(pcam->capture_fd, VIDIOC_DQBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("Fail DQBUF %d\n", errno); + goto err_out; + } + + ret = show_image(pcam, &buf); + if (ret < 0) + { + verr("Fail to show image %d\n", -ret); + goto err_out; + } + + ret = ioctl(pcam->capture_fd, VIDIOC_QBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("Fail QBUF %d\n", errno); + goto err_out; + } + } + + /* Release our video buffers and unregister / release the device */ + +err_out: + vinfo("Clean-up and exit\n"); + + /* Cleanup */ + + pthread_mutex_lock(&pcam->mutex); /* Lock the mutex */ + + close(pcam->display_fd); /* Close the display device */ + close(pcam->capture_fd); /* Close the capture device */ + pcam->display_fd = -1; /* Mark display device as closed */ + pcam->capture_fd = -1; /* Mark capture device as closed */ + mq_close(pcam->mq); /* Close the message queue */ + mq_unlink(pcam->mqname); /* Unlink the message queue */ + pcam->loopstate = NXCAMERA_STATE_IDLE; + if (pcam->bufs) + { + for (i = 0; i < pcam->nbuffers; i++) + { + if (pcam->bufs[i] != NULL && pcam->bufs[i] != MAP_FAILED) Review Comment: remove the check, don't need ########## system/nxcamera/nxcamera.c: ########## @@ -0,0 +1,889 @@ +/**************************************************************************** + * apps/system/nxcamera/nxcamera.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 <nuttx/config.h> + +#include <assert.h> +#include <debug.h> +#include <dirent.h> +#include <errno.h> +#include <fcntl.h> +#include <pthread.h> +#include <stdbool.h> +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> + +#include <nuttx/queue.h> +#include <nuttx/video/video.h> +#include <nuttx/video/fb.h> +#include <sys/ioctl.h> +#include <sys/mman.h> +#include <sys/types.h> + +#include <system/nxcamera.h> + +#ifdef CONFIG_LIBYUV +# include <libyuv.h> +#endif + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define NXCAMERA_STATE_IDLE 0 +#define NXCAMERA_STATE_STREAMING 1 +#define NXCAMERA_STATE_LOOPING 2 +#define NXCAMERA_STATE_PAUSED 3 + +#ifndef MIN +# define MIN(a, b) (((a) < (b)) ? (a) : (b)) +#endif + +#define convert_frame ConvertToARGB + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int show_image(FAR struct nxcamera_s *pcam, FAR v4l2_buffer_t *buf) +{ +#ifdef CONFIG_LIBYUV + return convert_frame(pcam->bufs[buf->index], + pcam->buf_sizes[buf->index], + pcam->display_pinfo.fbmem, + pcam->display_pinfo.stride, + 0, + 0, + pcam->fmt.fmt.pix.width, + pcam->fmt.fmt.pix.height, + pcam->fmt.fmt.pix.width, + pcam->fmt.fmt.pix.height, + 0, + pcam->fmt.fmt.pix.pixelformat); +#else + uint32_t *pbuf = pcam->bufs[buf->index]; + vinfo("show image from %p: %lx %lx", pbuf, pbuf[0], pbuf[1]); + return 0; +#endif +} + +/**************************************************************************** + * Name: nxcamera_opendevice + * + * nxcamera_opendevice() tries to open the preferred devices as specified. + * + * Return: + * OK if compatible device opened (searched or preferred) + * -ENODEV if no compatible device opened. + * -ENOENT if preferred device couldn't be opened. + * + ****************************************************************************/ + +static int nxcamera_opendevice(FAR struct nxcamera_s *pcam) +{ + int errcode; + + if (pcam->capturedev[0] != '\0') + { + pcam->capture_fd = open(pcam->capturedev, O_RDWR); + if (pcam->capture_fd == -1) + { + errcode = errno; + DEBUGASSERT(errcode > 0); + + verr("ERROR: Failed to open pcam->capturedev %d\n", -errcode); + return -errcode; + } + + if (pcam->displaydev[0] != '\0') + { + pcam->display_fd = open(pcam->displaydev, O_RDWR); + if (pcam->display_fd == -1) + { + errcode = errno; + DEBUGASSERT(errcode > 0); + + close(pcam->capture_fd); + pcam->capture_fd = -1; + verr("ERROR: Failed to open pcam->displaydev %d\n", -errcode); + return -errcode; + } + + errcode = ioctl(pcam->display_fd, FBIOGET_PLANEINFO, + ((uintptr_t)&pcam->display_pinfo)); + + if (errcode == OK) + { + pcam->display_pinfo.fbmem = mmap(NULL, + pcam->display_pinfo.fblen, + PROT_READ | PROT_WRITE, + MAP_SHARED | MAP_FILE, + pcam->display_fd, + 0); + } + + if (errcode < 0 || pcam->display_pinfo.fbmem == MAP_FAILED) + { + errcode = errno; + close(pcam->capture_fd); + close(pcam->display_fd); + verr("ERROR: ioctl(FBIOGET_PLANEINFO) failed: %d\n", -errcode); + return -errcode; + } + + return OK; + } + else + { + /* TODO: Add file output */ + + return -ENOTSUP; + } + } + + return -ENODEV; +} + +/**************************************************************************** + * Name: nxcamera_loopthread + * + * This is the thread that streams the video and handles video controls. + * + ****************************************************************************/ + +static void *nxcamera_loopthread(pthread_addr_t pvarg) +{ + FAR struct nxcamera_s *pcam = (FAR struct nxcamera_s *)pvarg; + unsigned int prio; + ssize_t size; + struct video_msg_s msg; + bool streaming = true; + int i; + int ret; + struct v4l2_buffer buf; + uint32_t type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + + vinfo("Entry\n"); + + for (i = 0; i < pcam->nbuffers; i++) + { + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + buf.index = i; + ret = ioctl(pcam->capture_fd, VIDIOC_QBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_QBUF failed: %d\n", ret); + goto err_out; + } + } + + /* VIDIOC_STREAMON start stream */ + + ret = ioctl(pcam->capture_fd, VIDIOC_STREAMON, (uintptr_t)&type); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_STREAMON failed: %d\n", ret); + goto err_out; + } + else + { + pcam->loopstate = NXCAMERA_STATE_STREAMING; + } + + /* Loop until we specifically break. streaming == true means that we are + * still looping waiting for the stream to complete. All of the data + * may have been sent, but the stream is not complete until we get + * VIDEO_MSG_STOP message + * + * The normal protocol for looping errors detected by the video driver + * is as follows: + * + * (1) The video driver will indicated the error by returning a negated + * error value when the next buffer is enqueued. The upper level + * then knows that this buffer was not queued. + * (2) The video driver must return all queued buffers using the + * VIDEO_MSG_DEQUEUE message. + */ + + while (streaming) + { + size = mq_receive(pcam->mq, (FAR char *)&msg, sizeof(msg), &prio); + + /* Validate a message was received */ + + if (size == sizeof(msg)) + { + /* Perform operation based on message id */ + + vinfo("message received size %zd id%d\n", size, msg.msg_id); + switch (msg.msg_id) + { + /* Someone wants to stop the stream. */ + + case VIDEO_MSG_STOP: + + /* Send a stop message to the device */ + + vinfo("Stopping looping\n"); + ioctl(pcam->capture_fd, VIDIOC_STREAMOFF, (uintptr_t)&type); + streaming = false; + goto err_out; + + /* Unknown / unsupported message ID */ + + default: + break; + } + } + + ret = ioctl(pcam->capture_fd, VIDIOC_DQBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("Fail DQBUF %d\n", errno); + goto err_out; + } + + ret = show_image(pcam, &buf); + if (ret < 0) + { + verr("Fail to show image %d\n", -ret); + goto err_out; + } + + ret = ioctl(pcam->capture_fd, VIDIOC_QBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("Fail QBUF %d\n", errno); + goto err_out; + } + } + + /* Release our video buffers and unregister / release the device */ + +err_out: + vinfo("Clean-up and exit\n"); + + /* Cleanup */ + + pthread_mutex_lock(&pcam->mutex); /* Lock the mutex */ + + close(pcam->display_fd); /* Close the display device */ + close(pcam->capture_fd); /* Close the capture device */ + pcam->display_fd = -1; /* Mark display device as closed */ + pcam->capture_fd = -1; /* Mark capture device as closed */ + mq_close(pcam->mq); /* Close the message queue */ + mq_unlink(pcam->mqname); /* Unlink the message queue */ + pcam->loopstate = NXCAMERA_STATE_IDLE; + if (pcam->bufs) + { + for (i = 0; i < pcam->nbuffers; i++) + { + if (pcam->bufs[i] != NULL && pcam->bufs[i] != MAP_FAILED) + { + munmap(pcam->bufs[i], pcam->buf_sizes[i]); + } + } + + free(pcam->bufs); + } + + if (pcam->buf_sizes) + { + free(pcam->buf_sizes); + } + + pthread_mutex_unlock(&pcam->mutex); /* Unlock the mutex */ + + vinfo("Exit\n"); + + return NULL; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: nxcamera_setdevice + * + * nxcamera_setdevice() sets the preferred video device to use with the + * provided nxcamera context. + * + ****************************************************************************/ + +int nxcamera_setdevice(FAR struct nxcamera_s *pcam, + FAR const char *device) +{ + int temp_fd; + struct v4l2_capability caps; + + DEBUGASSERT(pcam != NULL); + DEBUGASSERT(device != NULL); + + /* Try to open the device */ + + temp_fd = open(device, O_RDWR); + if (temp_fd == -1) + { + /* Error opening the device */ + + return -errno; + } + + /* Validate it's a video device by issuing an VIDIOC_QUERYCAP ioctl */ + + if (ioctl(temp_fd, VIDIOC_QUERYCAP, (uintptr_t)&caps) != OK) + { + /* Not a video device! */ + + close(temp_fd); + return -errno; + } + + /* Close the file */ + + close(temp_fd); + + /* Save the path of the preferred device */ + + if (!(caps.capabilities & V4L2_CAP_VIDEO_CAPTURE)) + { + return -ENODEV; + } + + strlcpy(pcam->capturedev, device, sizeof(pcam->capturedev)); + return OK; +} + +/**************************************************************************** + * Name: nxcamera_setfb + * + * nxcamera_setfb() sets the output framebuffer device to use with the + * provided nxcamera context. + * + ****************************************************************************/ + +int nxcamera_setfb(FAR struct nxcamera_s *pcam, FAR const char *device) +{ + int temp_fd; + struct fb_videoinfo_s vinfo; + + DEBUGASSERT(pcam != NULL); + DEBUGASSERT(device != NULL); + + /* Try to open the device */ + + temp_fd = open(device, O_RDWR); + if (temp_fd == -1) + { + /* Error opening the device */ + + return -errno; + } + + /* Validate it's a fb device by issuing an FBIOGET_VIDEOINFO ioctl */ + + if (ioctl(temp_fd, FBIOGET_VIDEOINFO, (uintptr_t)&vinfo) != OK) + { + /* Not an Video device! */ + + close(temp_fd); + return -errno; + } + + /* Close the file */ + + close(temp_fd); + + if (vinfo.nplanes == 0) + { + return -ENODEV; + } + + /* Save the path of the framebuffer device */ + + strlcpy(pcam->displaydev, device, sizeof(pcam->displaydev)); + return OK; +} + +/**************************************************************************** + * Name: nxcamera_setfile + * + * nxcamera_setfile() sets the output file path to use with the provided + * nxcamera context. + * + ****************************************************************************/ + +int nxcamera_setfile(FAR struct nxcamera_s *pcam, FAR const char *pfile, + bool isimage) +{ + int temp_fd; + + DEBUGASSERT(pcam != NULL); + DEBUGASSERT(pfile != NULL); + + /* Try to open the file */ + + temp_fd = open(pfile, O_CREAT | O_RDWR); + if (temp_fd == -1) + { + /* Error opening the file */ + + return -errno; + } + + /* Close the file */ + + close(temp_fd); + + /* Save the path of the output file */ + + if (isimage) + { + strlcpy(pcam->oimagepath, pfile, sizeof(pcam->oimagepath)); + } + else + { + strlcpy(pcam->ovideopath, pfile, sizeof(pcam->ovideopath)); + } + + return OK; +} + +/**************************************************************************** + * Name: nxcamera_stop + * + * nxcamera_stop() stops the current playback to loop and closes the + * file and the associated device. + * + * Input: + * pcam Pointer to the initialized looper context + * + ****************************************************************************/ + +int nxcamera_stop(FAR struct nxcamera_s *pcam) +{ + struct video_msg_s term_msg; + FAR void *value; + + DEBUGASSERT(pcam != NULL); + + /* Validate we are not in IDLE state */ + + pthread_mutex_lock(&pcam->mutex); /* Lock the mutex */ + if (pcam->loopstate == NXCAMERA_STATE_IDLE) + { + pthread_mutex_unlock(&pcam->mutex); /* Unlock the mutex */ + return OK; + } + + /* Notify the stream thread that it needs to cancel the stream */ + + term_msg.msg_id = VIDEO_MSG_STOP; + term_msg.u.data = 0; + mq_send(pcam->mq, (FAR const char *)&term_msg, sizeof(term_msg), + CONFIG_NXCAMERA_MSG_PRIO); + + pthread_mutex_unlock(&pcam->mutex); + + /* Join the thread. The thread will do all the cleanup. */ + + pthread_join(pcam->loop_id, &value); + pcam->loop_id = 0; + + return OK; +} + +/**************************************************************************** + * Name: nxcamera_stream + * + * nxcamera_stream() tries to capture and then display the raw data using + * the Video system. If a capture device is specified, it will try to use + * that device. + * + * Input: + * pcam Pointer to the initialized Looper context + * width Capture frame width + * height Capture frame height + * framerate Capture frame rate + * format Capture frame pixel format + * + * Returns: + * OK Video is being looped + * -EBUSY Capture device is busy + * -ENOSYS No supported video format found + * -ENODEV No video capture or framebuffer device suitable + * + ****************************************************************************/ + +int nxcamera_stream(FAR struct nxcamera_s *pcam, + uint16_t width, uint16_t height, + uint32_t framerate, uint32_t format) +{ + struct mq_attr attr; + struct sched_param sparam; + pthread_attr_t tattr; + FAR void *value; + int ret; + int i; + struct v4l2_buffer buf; + struct v4l2_requestbuffers req; + struct v4l2_streamparm parm; + + DEBUGASSERT(pcam != NULL); + + if (pcam->loopstate != NXCAMERA_STATE_IDLE) + { + return -EBUSY; + } + + vinfo("==============================\n"); + vinfo("streaming video\n"); + vinfo("==============================\n"); + + /* Try to open the device */ + + ret = nxcamera_opendevice(pcam); + if (ret < 0) + { + /* Error opening the device */ + + verr("ERROR: nxcamera_opendevice failed: %d\n", ret); + return ret; + } + + /* VIDIOC_S_FMT set format */ + + pcam->fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + pcam->fmt.fmt.pix.width = width; + pcam->fmt.fmt.pix.height = height; + pcam->fmt.fmt.pix.field = V4L2_FIELD_ANY; + pcam->fmt.fmt.pix.pixelformat = format; + + ret = ioctl(pcam->capture_fd, VIDIOC_S_FMT, (uintptr_t)&pcam->fmt); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_S_FMT failed: %d\n", ret); + return ret; + } + + memset(&parm, 0, sizeof(parm)); + parm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + parm.parm.capture.timeperframe.denominator = framerate; + parm.parm.capture.timeperframe.numerator = 1; + ret = ioctl(pcam->capture_fd, VIDIOC_S_PARM, (uintptr_t)&parm); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_S_PARM failed: %d\n", ret); + return ret; + } + + /* VIDIOC_REQBUFS initiate user pointer I/O */ + + req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + req.memory = V4L2_MEMORY_MMAP; + req.count = CONFIG_VIDEO_REQBUFS_COUNT_MAX; + + ret = ioctl(pcam->capture_fd, VIDIOC_REQBUFS, (uintptr_t)&req); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_REQBUFS failed: %d\n", ret); + return ret; + } + + if (req.count < 2) + { + verr("VIDIOC_REQBUFS failed: not enough buffers\n"); + return -ENOMEM; + } + + pcam->nbuffers = req.count; + pcam->bufs = calloc(req.count, sizeof(*pcam->bufs)); + pcam->buf_sizes = calloc(req.count, sizeof(*pcam->buf_sizes)); + if (!pcam->bufs || !pcam->buf_sizes) + { + verr("Cannot allocate buffer pointers\n"); + ret = -ENOMEM; + goto err_out; + } + + /* VIDIOC_QBUF enqueue buffer */ + + for (i = 0; i < req.count; i++) + { + buf.type = req.type; + buf.memory = V4L2_MEMORY_MMAP; + buf.index = i; + ret = ioctl(pcam->capture_fd, VIDIOC_QUERYBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_QUERYBUF failed: %d\n", ret); + goto err_out; + } + + pcam->bufs[i] = mmap(NULL, buf.length, + PROT_READ | PROT_WRITE, MAP_SHARED, + pcam->capture_fd, buf.m.offset); + if (pcam->bufs[i] == MAP_FAILED) + { + ret = -errno; + verr("MMAP failed\n"); + goto err_out; + } + + pcam->buf_sizes[i] = buf.length; + } + + /* Create a message queue for the loopthread */ + + attr.mq_maxmsg = 8; + attr.mq_msgsize = sizeof(struct video_msg_s); + attr.mq_curmsgs = 0; + attr.mq_flags = 0; + + snprintf(pcam->mqname, sizeof(pcam->mqname), "/tmp/%lx", + (unsigned long)((uintptr_t)pcam) & 0xffffffff); + + pcam->mq = mq_open(pcam->mqname, O_RDWR | O_CREAT | O_NONBLOCK, 0644, + &attr); + if (pcam->mq == (mqd_t)-1) + { + /* Unable to open message queue! */ + + ret = -errno; + verr("ERROR: mq_open failed: %d\n", ret); + goto err_out; + } + + /* Check if there was a previous thread and join it if there was + * to perform clean-up. + */ + + if (pcam->loop_id != 0) + { + pthread_join(pcam->loop_id, &value); + } + + pthread_attr_init(&tattr); + sparam.sched_priority = sched_get_priority_max(SCHED_FIFO) - 9; + pthread_attr_setschedparam(&tattr, &sparam); + pthread_attr_setstacksize(&tattr, CONFIG_NXCAMERA_LOOPTHREAD_STACKSIZE); + + /* Add a reference count to the looper for the thread and start the + * thread. We increment for the thread to avoid thread start-up + * race conditions. + */ + + nxcamera_reference(pcam); + ret = pthread_create(&pcam->loop_id, &tattr, nxcamera_loopthread, + (pthread_addr_t)pcam); + pthread_attr_destroy(&tattr); + if (ret != OK) + { + ret = -ret; + verr("ERROR: Failed to create loopthread: %d\n", ret); + goto err_out; + } + + /* Name the thread */ + + pthread_setname_np(pcam->loop_id, "nxcameraloop"); + return OK; + +err_out: + if (pcam->bufs) + { + for (i = 0; i < pcam->nbuffers; i++) + { + if (pcam->bufs[i] != NULL && pcam->bufs[i] != MAP_FAILED) + { + munmap(pcam->bufs[i], pcam->buf_sizes[i]); + } + } + + free(pcam->bufs); + } + + if (pcam->buf_sizes) + { + free(pcam->buf_sizes); + } + + return ret; +} + +/**************************************************************************** + * Name: nxcamera_create + * + * nxcamera_create() allocates and initializes a nxcamera context for + * use by further nxcamera operations. This routine must be called before + * to perform the create for proper reference counting. + * + * Input Parameters: None + * + * Returned values: + * Pointer to the created context or NULL if there was an error. + * + ****************************************************************************/ + +FAR struct nxcamera_s *nxcamera_create(void) +{ + FAR struct nxcamera_s *pcam; + int err; + + /* Allocate the memory */ + + pcam = (FAR struct nxcamera_s *)calloc(1, sizeof(struct nxcamera_s)); + if (pcam == NULL) + { + return NULL; + } + + /* Initialize the context data */ + + pcam->loopstate = NXCAMERA_STATE_IDLE; + pcam->display_fd = -1; + pcam->capture_fd = -1; + err = pthread_mutex_init(&pcam->mutex, NULL); + if (err) + { + verr("ERROR: pthread_mutex_init failed: %d\n", err); + free(pcam); + pcam = NULL; + } + + return pcam; +} + +/**************************************************************************** + * Name: nxcamera_release + * + * nxcamera_release() reduces the reference count by one and if it + * reaches zero, frees the context. + * + * Input Parameters: + * pcam Pointer to the NxCamera context + * + * Returned values: None + * + ****************************************************************************/ + +void nxcamera_release(FAR struct nxcamera_s *pcam) +{ + int refcount; Review Comment: FAR void *value; int refcount; int errcode; ########## system/nxcamera/nxcamera.c: ########## @@ -0,0 +1,889 @@ +/**************************************************************************** + * apps/system/nxcamera/nxcamera.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 <nuttx/config.h> + +#include <assert.h> +#include <debug.h> +#include <dirent.h> +#include <errno.h> +#include <fcntl.h> +#include <pthread.h> +#include <stdbool.h> +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> + +#include <nuttx/queue.h> +#include <nuttx/video/video.h> +#include <nuttx/video/fb.h> +#include <sys/ioctl.h> +#include <sys/mman.h> +#include <sys/types.h> + +#include <system/nxcamera.h> + +#ifdef CONFIG_LIBYUV +# include <libyuv.h> +#endif + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define NXCAMERA_STATE_IDLE 0 +#define NXCAMERA_STATE_STREAMING 1 +#define NXCAMERA_STATE_LOOPING 2 +#define NXCAMERA_STATE_PAUSED 3 + +#ifndef MIN +# define MIN(a, b) (((a) < (b)) ? (a) : (b)) +#endif + +#define convert_frame ConvertToARGB + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int show_image(FAR struct nxcamera_s *pcam, FAR v4l2_buffer_t *buf) +{ +#ifdef CONFIG_LIBYUV + return convert_frame(pcam->bufs[buf->index], + pcam->buf_sizes[buf->index], + pcam->display_pinfo.fbmem, + pcam->display_pinfo.stride, + 0, + 0, + pcam->fmt.fmt.pix.width, + pcam->fmt.fmt.pix.height, + pcam->fmt.fmt.pix.width, + pcam->fmt.fmt.pix.height, + 0, + pcam->fmt.fmt.pix.pixelformat); +#else + uint32_t *pbuf = pcam->bufs[buf->index]; + vinfo("show image from %p: %lx %lx", pbuf, pbuf[0], pbuf[1]); + return 0; +#endif +} + +/**************************************************************************** + * Name: nxcamera_opendevice + * + * nxcamera_opendevice() tries to open the preferred devices as specified. + * + * Return: + * OK if compatible device opened (searched or preferred) + * -ENODEV if no compatible device opened. + * -ENOENT if preferred device couldn't be opened. + * + ****************************************************************************/ + +static int nxcamera_opendevice(FAR struct nxcamera_s *pcam) +{ + int errcode; + + if (pcam->capturedev[0] != '\0') + { + pcam->capture_fd = open(pcam->capturedev, O_RDWR); + if (pcam->capture_fd == -1) + { + errcode = errno; + DEBUGASSERT(errcode > 0); + + verr("ERROR: Failed to open pcam->capturedev %d\n", -errcode); + return -errcode; + } + + if (pcam->displaydev[0] != '\0') + { + pcam->display_fd = open(pcam->displaydev, O_RDWR); + if (pcam->display_fd == -1) + { + errcode = errno; + DEBUGASSERT(errcode > 0); + + close(pcam->capture_fd); + pcam->capture_fd = -1; + verr("ERROR: Failed to open pcam->displaydev %d\n", -errcode); + return -errcode; + } + + errcode = ioctl(pcam->display_fd, FBIOGET_PLANEINFO, + ((uintptr_t)&pcam->display_pinfo)); + + if (errcode == OK) + { + pcam->display_pinfo.fbmem = mmap(NULL, + pcam->display_pinfo.fblen, + PROT_READ | PROT_WRITE, + MAP_SHARED | MAP_FILE, + pcam->display_fd, + 0); + } + + if (errcode < 0 || pcam->display_pinfo.fbmem == MAP_FAILED) + { + errcode = errno; + close(pcam->capture_fd); + close(pcam->display_fd); + verr("ERROR: ioctl(FBIOGET_PLANEINFO) failed: %d\n", -errcode); + return -errcode; + } + + return OK; + } + else + { + /* TODO: Add file output */ + + return -ENOTSUP; + } + } + + return -ENODEV; +} + +/**************************************************************************** + * Name: nxcamera_loopthread + * + * This is the thread that streams the video and handles video controls. + * + ****************************************************************************/ + +static void *nxcamera_loopthread(pthread_addr_t pvarg) +{ + FAR struct nxcamera_s *pcam = (FAR struct nxcamera_s *)pvarg; + unsigned int prio; + ssize_t size; + struct video_msg_s msg; + bool streaming = true; + int i; + int ret; + struct v4l2_buffer buf; + uint32_t type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + + vinfo("Entry\n"); + Review Comment: let's zero buf ########## system/nxcamera/nxcamera.c: ########## @@ -0,0 +1,889 @@ +/**************************************************************************** + * apps/system/nxcamera/nxcamera.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 <nuttx/config.h> + +#include <assert.h> +#include <debug.h> +#include <dirent.h> +#include <errno.h> +#include <fcntl.h> +#include <pthread.h> +#include <stdbool.h> +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> + +#include <nuttx/queue.h> +#include <nuttx/video/video.h> +#include <nuttx/video/fb.h> +#include <sys/ioctl.h> +#include <sys/mman.h> +#include <sys/types.h> + +#include <system/nxcamera.h> + +#ifdef CONFIG_LIBYUV +# include <libyuv.h> +#endif + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define NXCAMERA_STATE_IDLE 0 +#define NXCAMERA_STATE_STREAMING 1 +#define NXCAMERA_STATE_LOOPING 2 +#define NXCAMERA_STATE_PAUSED 3 + +#ifndef MIN +# define MIN(a, b) (((a) < (b)) ? (a) : (b)) +#endif + +#define convert_frame ConvertToARGB + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int show_image(FAR struct nxcamera_s *pcam, FAR v4l2_buffer_t *buf) +{ +#ifdef CONFIG_LIBYUV + return convert_frame(pcam->bufs[buf->index], + pcam->buf_sizes[buf->index], + pcam->display_pinfo.fbmem, + pcam->display_pinfo.stride, + 0, + 0, + pcam->fmt.fmt.pix.width, + pcam->fmt.fmt.pix.height, + pcam->fmt.fmt.pix.width, + pcam->fmt.fmt.pix.height, + 0, + pcam->fmt.fmt.pix.pixelformat); +#else + uint32_t *pbuf = pcam->bufs[buf->index]; + vinfo("show image from %p: %lx %lx", pbuf, pbuf[0], pbuf[1]); + return 0; +#endif +} + +/**************************************************************************** + * Name: nxcamera_opendevice + * + * nxcamera_opendevice() tries to open the preferred devices as specified. + * + * Return: + * OK if compatible device opened (searched or preferred) + * -ENODEV if no compatible device opened. + * -ENOENT if preferred device couldn't be opened. + * + ****************************************************************************/ + +static int nxcamera_opendevice(FAR struct nxcamera_s *pcam) +{ + int errcode; + + if (pcam->capturedev[0] != '\0') + { + pcam->capture_fd = open(pcam->capturedev, O_RDWR); + if (pcam->capture_fd == -1) + { + errcode = errno; + DEBUGASSERT(errcode > 0); + + verr("ERROR: Failed to open pcam->capturedev %d\n", -errcode); + return -errcode; + } + + if (pcam->displaydev[0] != '\0') + { + pcam->display_fd = open(pcam->displaydev, O_RDWR); + if (pcam->display_fd == -1) + { + errcode = errno; + DEBUGASSERT(errcode > 0); + + close(pcam->capture_fd); + pcam->capture_fd = -1; + verr("ERROR: Failed to open pcam->displaydev %d\n", -errcode); + return -errcode; + } + + errcode = ioctl(pcam->display_fd, FBIOGET_PLANEINFO, + ((uintptr_t)&pcam->display_pinfo)); + + if (errcode == OK) + { + pcam->display_pinfo.fbmem = mmap(NULL, + pcam->display_pinfo.fblen, + PROT_READ | PROT_WRITE, + MAP_SHARED | MAP_FILE, + pcam->display_fd, + 0); + } + + if (errcode < 0 || pcam->display_pinfo.fbmem == MAP_FAILED) + { + errcode = errno; + close(pcam->capture_fd); + close(pcam->display_fd); + verr("ERROR: ioctl(FBIOGET_PLANEINFO) failed: %d\n", -errcode); + return -errcode; + } + + return OK; + } + else + { + /* TODO: Add file output */ + + return -ENOTSUP; + } + } + + return -ENODEV; +} + +/**************************************************************************** + * Name: nxcamera_loopthread + * + * This is the thread that streams the video and handles video controls. + * + ****************************************************************************/ + +static void *nxcamera_loopthread(pthread_addr_t pvarg) +{ + FAR struct nxcamera_s *pcam = (FAR struct nxcamera_s *)pvarg; + unsigned int prio; + ssize_t size; + struct video_msg_s msg; + bool streaming = true; + int i; + int ret; + struct v4l2_buffer buf; + uint32_t type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + + vinfo("Entry\n"); + + for (i = 0; i < pcam->nbuffers; i++) + { + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + buf.index = i; + ret = ioctl(pcam->capture_fd, VIDIOC_QBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_QBUF failed: %d\n", ret); + goto err_out; + } + } + + /* VIDIOC_STREAMON start stream */ + + ret = ioctl(pcam->capture_fd, VIDIOC_STREAMON, (uintptr_t)&type); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_STREAMON failed: %d\n", ret); + goto err_out; + } + else + { + pcam->loopstate = NXCAMERA_STATE_STREAMING; + } + + /* Loop until we specifically break. streaming == true means that we are + * still looping waiting for the stream to complete. All of the data + * may have been sent, but the stream is not complete until we get + * VIDEO_MSG_STOP message + * + * The normal protocol for looping errors detected by the video driver + * is as follows: + * + * (1) The video driver will indicated the error by returning a negated + * error value when the next buffer is enqueued. The upper level + * then knows that this buffer was not queued. + * (2) The video driver must return all queued buffers using the + * VIDEO_MSG_DEQUEUE message. + */ + + while (streaming) + { + size = mq_receive(pcam->mq, (FAR char *)&msg, sizeof(msg), &prio); + + /* Validate a message was received */ + + if (size == sizeof(msg)) + { + /* Perform operation based on message id */ + + vinfo("message received size %zd id%d\n", size, msg.msg_id); + switch (msg.msg_id) + { + /* Someone wants to stop the stream. */ + + case VIDEO_MSG_STOP: + + /* Send a stop message to the device */ + + vinfo("Stopping looping\n"); + ioctl(pcam->capture_fd, VIDIOC_STREAMOFF, (uintptr_t)&type); + streaming = false; + goto err_out; + + /* Unknown / unsupported message ID */ + + default: + break; + } + } + + ret = ioctl(pcam->capture_fd, VIDIOC_DQBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("Fail DQBUF %d\n", errno); + goto err_out; + } + + ret = show_image(pcam, &buf); + if (ret < 0) + { + verr("Fail to show image %d\n", -ret); + goto err_out; + } + + ret = ioctl(pcam->capture_fd, VIDIOC_QBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("Fail QBUF %d\n", errno); + goto err_out; + } + } + + /* Release our video buffers and unregister / release the device */ + +err_out: + vinfo("Clean-up and exit\n"); + + /* Cleanup */ + + pthread_mutex_lock(&pcam->mutex); /* Lock the mutex */ + + close(pcam->display_fd); /* Close the display device */ + close(pcam->capture_fd); /* Close the capture device */ + pcam->display_fd = -1; /* Mark display device as closed */ + pcam->capture_fd = -1; /* Mark capture device as closed */ + mq_close(pcam->mq); /* Close the message queue */ + mq_unlink(pcam->mqname); /* Unlink the message queue */ + pcam->loopstate = NXCAMERA_STATE_IDLE; + if (pcam->bufs) + { + for (i = 0; i < pcam->nbuffers; i++) + { + if (pcam->bufs[i] != NULL && pcam->bufs[i] != MAP_FAILED) + { + munmap(pcam->bufs[i], pcam->buf_sizes[i]); + } + } + + free(pcam->bufs); + } + + if (pcam->buf_sizes) + { + free(pcam->buf_sizes); + } + + pthread_mutex_unlock(&pcam->mutex); /* Unlock the mutex */ + + vinfo("Exit\n"); + + return NULL; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: nxcamera_setdevice + * + * nxcamera_setdevice() sets the preferred video device to use with the + * provided nxcamera context. + * + ****************************************************************************/ + +int nxcamera_setdevice(FAR struct nxcamera_s *pcam, + FAR const char *device) +{ + int temp_fd; + struct v4l2_capability caps; + + DEBUGASSERT(pcam != NULL); + DEBUGASSERT(device != NULL); + + /* Try to open the device */ + + temp_fd = open(device, O_RDWR); + if (temp_fd == -1) + { + /* Error opening the device */ + + return -errno; + } + + /* Validate it's a video device by issuing an VIDIOC_QUERYCAP ioctl */ + + if (ioctl(temp_fd, VIDIOC_QUERYCAP, (uintptr_t)&caps) != OK) + { + /* Not a video device! */ + + close(temp_fd); + return -errno; + } + + /* Close the file */ + + close(temp_fd); + + /* Save the path of the preferred device */ + + if (!(caps.capabilities & V4L2_CAP_VIDEO_CAPTURE)) + { + return -ENODEV; + } + + strlcpy(pcam->capturedev, device, sizeof(pcam->capturedev)); + return OK; +} + +/**************************************************************************** + * Name: nxcamera_setfb + * + * nxcamera_setfb() sets the output framebuffer device to use with the + * provided nxcamera context. + * + ****************************************************************************/ + +int nxcamera_setfb(FAR struct nxcamera_s *pcam, FAR const char *device) +{ + int temp_fd; + struct fb_videoinfo_s vinfo; + + DEBUGASSERT(pcam != NULL); + DEBUGASSERT(device != NULL); + + /* Try to open the device */ + + temp_fd = open(device, O_RDWR); + if (temp_fd == -1) + { + /* Error opening the device */ + + return -errno; + } + + /* Validate it's a fb device by issuing an FBIOGET_VIDEOINFO ioctl */ + + if (ioctl(temp_fd, FBIOGET_VIDEOINFO, (uintptr_t)&vinfo) != OK) + { + /* Not an Video device! */ + + close(temp_fd); + return -errno; + } + + /* Close the file */ + + close(temp_fd); + + if (vinfo.nplanes == 0) + { + return -ENODEV; + } + + /* Save the path of the framebuffer device */ + + strlcpy(pcam->displaydev, device, sizeof(pcam->displaydev)); + return OK; +} + +/**************************************************************************** + * Name: nxcamera_setfile + * + * nxcamera_setfile() sets the output file path to use with the provided + * nxcamera context. + * + ****************************************************************************/ + +int nxcamera_setfile(FAR struct nxcamera_s *pcam, FAR const char *pfile, + bool isimage) +{ + int temp_fd; + + DEBUGASSERT(pcam != NULL); + DEBUGASSERT(pfile != NULL); + + /* Try to open the file */ + + temp_fd = open(pfile, O_CREAT | O_RDWR); + if (temp_fd == -1) + { + /* Error opening the file */ + + return -errno; + } + + /* Close the file */ + + close(temp_fd); + + /* Save the path of the output file */ + + if (isimage) + { + strlcpy(pcam->oimagepath, pfile, sizeof(pcam->oimagepath)); + } + else + { + strlcpy(pcam->ovideopath, pfile, sizeof(pcam->ovideopath)); + } + + return OK; +} + +/**************************************************************************** + * Name: nxcamera_stop + * + * nxcamera_stop() stops the current playback to loop and closes the + * file and the associated device. + * + * Input: + * pcam Pointer to the initialized looper context + * + ****************************************************************************/ + +int nxcamera_stop(FAR struct nxcamera_s *pcam) +{ + struct video_msg_s term_msg; + FAR void *value; + + DEBUGASSERT(pcam != NULL); + + /* Validate we are not in IDLE state */ + + pthread_mutex_lock(&pcam->mutex); /* Lock the mutex */ + if (pcam->loopstate == NXCAMERA_STATE_IDLE) + { + pthread_mutex_unlock(&pcam->mutex); /* Unlock the mutex */ + return OK; + } + + /* Notify the stream thread that it needs to cancel the stream */ + + term_msg.msg_id = VIDEO_MSG_STOP; + term_msg.u.data = 0; + mq_send(pcam->mq, (FAR const char *)&term_msg, sizeof(term_msg), + CONFIG_NXCAMERA_MSG_PRIO); + + pthread_mutex_unlock(&pcam->mutex); + + /* Join the thread. The thread will do all the cleanup. */ + + pthread_join(pcam->loop_id, &value); + pcam->loop_id = 0; + + return OK; +} + +/**************************************************************************** + * Name: nxcamera_stream + * + * nxcamera_stream() tries to capture and then display the raw data using + * the Video system. If a capture device is specified, it will try to use + * that device. + * + * Input: + * pcam Pointer to the initialized Looper context + * width Capture frame width + * height Capture frame height + * framerate Capture frame rate + * format Capture frame pixel format + * + * Returns: + * OK Video is being looped + * -EBUSY Capture device is busy + * -ENOSYS No supported video format found + * -ENODEV No video capture or framebuffer device suitable + * + ****************************************************************************/ + +int nxcamera_stream(FAR struct nxcamera_s *pcam, + uint16_t width, uint16_t height, + uint32_t framerate, uint32_t format) +{ + struct mq_attr attr; + struct sched_param sparam; + pthread_attr_t tattr; + FAR void *value; + int ret; + int i; + struct v4l2_buffer buf; + struct v4l2_requestbuffers req; + struct v4l2_streamparm parm; + + DEBUGASSERT(pcam != NULL); + + if (pcam->loopstate != NXCAMERA_STATE_IDLE) + { + return -EBUSY; + } + + vinfo("==============================\n"); + vinfo("streaming video\n"); + vinfo("==============================\n"); + + /* Try to open the device */ + + ret = nxcamera_opendevice(pcam); + if (ret < 0) + { + /* Error opening the device */ + + verr("ERROR: nxcamera_opendevice failed: %d\n", ret); + return ret; + } + + /* VIDIOC_S_FMT set format */ + + pcam->fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + pcam->fmt.fmt.pix.width = width; + pcam->fmt.fmt.pix.height = height; + pcam->fmt.fmt.pix.field = V4L2_FIELD_ANY; + pcam->fmt.fmt.pix.pixelformat = format; + + ret = ioctl(pcam->capture_fd, VIDIOC_S_FMT, (uintptr_t)&pcam->fmt); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_S_FMT failed: %d\n", ret); + return ret; + } + + memset(&parm, 0, sizeof(parm)); + parm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + parm.parm.capture.timeperframe.denominator = framerate; + parm.parm.capture.timeperframe.numerator = 1; + ret = ioctl(pcam->capture_fd, VIDIOC_S_PARM, (uintptr_t)&parm); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_S_PARM failed: %d\n", ret); + return ret; + } + + /* VIDIOC_REQBUFS initiate user pointer I/O */ + + req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + req.memory = V4L2_MEMORY_MMAP; + req.count = CONFIG_VIDEO_REQBUFS_COUNT_MAX; + + ret = ioctl(pcam->capture_fd, VIDIOC_REQBUFS, (uintptr_t)&req); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_REQBUFS failed: %d\n", ret); + return ret; + } + + if (req.count < 2) + { + verr("VIDIOC_REQBUFS failed: not enough buffers\n"); + return -ENOMEM; + } + + pcam->nbuffers = req.count; + pcam->bufs = calloc(req.count, sizeof(*pcam->bufs)); + pcam->buf_sizes = calloc(req.count, sizeof(*pcam->buf_sizes)); + if (!pcam->bufs || !pcam->buf_sizes) + { + verr("Cannot allocate buffer pointers\n"); + ret = -ENOMEM; + goto err_out; + } + + /* VIDIOC_QBUF enqueue buffer */ + + for (i = 0; i < req.count; i++) + { + buf.type = req.type; + buf.memory = V4L2_MEMORY_MMAP; + buf.index = i; + ret = ioctl(pcam->capture_fd, VIDIOC_QUERYBUF, (uintptr_t)&buf); + if (ret < 0) + { + ret = -errno; + verr("VIDIOC_QUERYBUF failed: %d\n", ret); + goto err_out; + } + + pcam->bufs[i] = mmap(NULL, buf.length, + PROT_READ | PROT_WRITE, MAP_SHARED, + pcam->capture_fd, buf.m.offset); + if (pcam->bufs[i] == MAP_FAILED) + { + ret = -errno; + verr("MMAP failed\n"); + goto err_out; + } + + pcam->buf_sizes[i] = buf.length; + } + + /* Create a message queue for the loopthread */ + + attr.mq_maxmsg = 8; + attr.mq_msgsize = sizeof(struct video_msg_s); + attr.mq_curmsgs = 0; + attr.mq_flags = 0; + + snprintf(pcam->mqname, sizeof(pcam->mqname), "/tmp/%lx", + (unsigned long)((uintptr_t)pcam) & 0xffffffff); + + pcam->mq = mq_open(pcam->mqname, O_RDWR | O_CREAT | O_NONBLOCK, 0644, + &attr); + if (pcam->mq == (mqd_t)-1) + { + /* Unable to open message queue! */ + + ret = -errno; + verr("ERROR: mq_open failed: %d\n", ret); + goto err_out; + } + + /* Check if there was a previous thread and join it if there was + * to perform clean-up. + */ + + if (pcam->loop_id != 0) + { + pthread_join(pcam->loop_id, &value); + } + + pthread_attr_init(&tattr); + sparam.sched_priority = sched_get_priority_max(SCHED_FIFO) - 9; + pthread_attr_setschedparam(&tattr, &sparam); + pthread_attr_setstacksize(&tattr, CONFIG_NXCAMERA_LOOPTHREAD_STACKSIZE); + + /* Add a reference count to the looper for the thread and start the + * thread. We increment for the thread to avoid thread start-up + * race conditions. + */ + + nxcamera_reference(pcam); + ret = pthread_create(&pcam->loop_id, &tattr, nxcamera_loopthread, + (pthread_addr_t)pcam); + pthread_attr_destroy(&tattr); + if (ret != OK) + { + ret = -ret; + verr("ERROR: Failed to create loopthread: %d\n", ret); + goto err_out; + } + + /* Name the thread */ + + pthread_setname_np(pcam->loop_id, "nxcameraloop"); + return OK; + +err_out: + if (pcam->bufs) + { + for (i = 0; i < pcam->nbuffers; i++) + { + if (pcam->bufs[i] != NULL && pcam->bufs[i] != MAP_FAILED) + { + munmap(pcam->bufs[i], pcam->buf_sizes[i]); + } + } + + free(pcam->bufs); + } + + if (pcam->buf_sizes) + { + free(pcam->buf_sizes); + } + + return ret; +} + +/**************************************************************************** + * Name: nxcamera_create + * + * nxcamera_create() allocates and initializes a nxcamera context for + * use by further nxcamera operations. This routine must be called before + * to perform the create for proper reference counting. + * + * Input Parameters: None + * + * Returned values: + * Pointer to the created context or NULL if there was an error. + * + ****************************************************************************/ + +FAR struct nxcamera_s *nxcamera_create(void) +{ + FAR struct nxcamera_s *pcam; + int err; + + /* Allocate the memory */ + + pcam = (FAR struct nxcamera_s *)calloc(1, sizeof(struct nxcamera_s)); + if (pcam == NULL) + { + return NULL; + } + + /* Initialize the context data */ + + pcam->loopstate = NXCAMERA_STATE_IDLE; + pcam->display_fd = -1; + pcam->capture_fd = -1; + err = pthread_mutex_init(&pcam->mutex, NULL); + if (err) + { + verr("ERROR: pthread_mutex_init failed: %d\n", err); + free(pcam); + pcam = NULL; + } + + return pcam; +} + +/**************************************************************************** + * Name: nxcamera_release + * + * nxcamera_release() reduces the reference count by one and if it + * reaches zero, frees the context. + * + * Input Parameters: + * pcam Pointer to the NxCamera context + * + * Returned values: None + * + ****************************************************************************/ + +void nxcamera_release(FAR struct nxcamera_s *pcam) +{ + int refcount; + FAR void *value; + int errcode; + + /* Lock the mutex */ + + while ((errcode = pthread_mutex_trylock(&pcam->mutex))) + { + DEBUGASSERT(errcode > 0); + + if (errcode != EBUSY) + { + verr("ERROR: pthread_mutex_trylock failed: %d\n", errcode); + return; + } + } + + /* Check if there was a previous thread and join it if there was */ + + if (pcam->loop_id != 0) + { + pthread_mutex_unlock(&pcam->mutex); + pthread_join(pcam->loop_id, &value); + pcam->loop_id = 0; + + while ((errcode = pthread_mutex_trylock(&pcam->mutex))) Review Comment: why not use pthread_mutex_lock and remove errcode -- This is an automated message from the Apache Git Service. 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