#ifndef CAM_H#define CAM_H#include <stdio.h>#include <stdlib.h>#include <sys/types.h>#include <sys/stat.h>#include <fcntl.h>#include <sys/ioctl.h>#include <sys/mman.h>#include <unistd.h>#include <linux/videodev.h>#include "global.h"#include "pwc-ioctl.h"struct cam {	int fd;	struct video_mmap vm;	unsigned char *src;	unsigned char *vidbuf;	struct video_mbuf vmbuf;};inline void cam_init(struct cam *pc, int id) {	if (id != 0 && id != 1) {		fprintf(stderr, "video id should be 0 or 1\n");		exit(-1);	}	char dev[12];	sprintf(dev, "/dev/video%d", id);	if ((pc->fd = open(dev, O_RDONLY)) < 0) {		perror(dev);		exit(-1);	}	struct video_picture picture;	if (ioctl(pc->fd, VIDIOCGPICT, &picture) < 0) {		perror("VIDIOCGPICT");		exit(-1);	}	if (picture.palette != VIDEO_PALETTE_RAW) {		picture.palette = VIDEO_PALETTE_RAW;		if (ioctl(pc->fd, VIDIOCSPICT, &picture) < 0) {			perror("VIDIOCSPICT");			exit(-1);		}	}	// compression	int t = 3;	if (ioctl(pc->fd, VIDIOCPWCSCQUAL, &t) < 0) {		perror("VIDIOCPWCSCQUAL");		exit(-1);	}	// noise;	t = 1;	// should be 3, driver's bug?	if (ioctl(pc->fd, VIDIOCPWCSDYNNOISE, &t) < 0) {		perror("ioctl VIDIOCPWCSDYNNOISE");		exit(-1);	}	if (ioctl(pc->fd, VIDIOCGMBUF, &pc->vmbuf) < 0) {		perror("VIDIOCGMBUF");		exit(-1);	}	if (pc->vmbuf.frames < 2) {			fprintf(stderr, "double buffer fail\n");		exit(-1);	}		pc->vidbuf = (unsigned char *)mmap(0, pc->vmbuf.size, PROT_READ, MAP_SHARED, pc->fd, 0);	if (pc->vidbuf == MAP_FAILED) {		perror("mmap");		exit(-1);	}		struct video_window vwin;	if (ioctl(pc->fd, VIDIOCGWIN, &vwin) < 0) {		perror("VIDIOCGWIN");		exit(-1);	}	t = R << PWC_FPS_SHIFT;	if ((vwin.width - W) || (vwin.height - H) || 		((vwin.flags & PWC_FPS_FRMASK) - t)) {		vwin.width = W;		vwin.height = H;		vwin.flags &= ~PWC_FPS_FRMASK;		vwin.flags |= t;		if (ioctl(pc->fd, VIDIOCSWIN, &vwin) < 0) {			perror("VIDIOCSWIN");			exit(-1);		}	}	pc->vm.format = VIDEO_PALETTE_RAW;	pc->vm.width = W;	pc->vm.height = H;	pc->vm.frame = 1;}inline void cam_capture(struct cam *pc) {	pc->vm.frame ^= 0x1;	if (ioctl(pc->fd, VIDIOCMCAPTURE, &pc->vm) < 0) {		perror("VIDIOCMCAPTURE");		exit(-1);	}	}inline void cam_sync(struct cam *pc) {	if (ioctl(pc->fd, VIDIOCSYNC, &pc->vm.frame) < 0) {		perror("VIDIOCSYNC");		exit(-1);	}	pc->src = pc->vidbuf + pc->vmbuf.offsets[pc->vm.frame];}inline void cam_close(struct cam *pc) {	munmap(pc->vidbuf, pc->vmbuf.size);	close(pc->fd);}#endif