if (vd->formatIn != vd->videopict.palette ||      vd->bppIn != vd->videopict.depth)    exit_fatal ("could't set video palette Abort !");  if (erreur < 0)    exit_fatal ("could't set video palette Abort !");  if (vd->grabMethod)    {      if(debug) printf (" grabbing method default MMAP asked \n");      // MMAP VIDEO acquisition      memset (&(vd->videombuf), 0, sizeof (vd->videombuf));      if (ioctl (vd->fd, VIDIOCGMBUF, &(vd->videombuf)) < 0)	{	  perror (" init VIDIOCGMBUF FAILED\n");	}      if(debug) printf ("VIDIOCGMBUF size %d  frames %d  offets[0]=%d offsets[1]=%d\n",	      vd->videombuf.size, vd->videombuf.frames,	      vd->videombuf.offsets[0], vd->videombuf.offsets[1]);      vd->pFramebuffer =	(unsigned char *) mmap (0, vd->videombuf.size, PROT_READ | PROT_WRITE,				MAP_SHARED, vd->fd, 0);      vd->mmapsize = vd->videombuf.size;      vd->vmmap.height = vd->hdrheight;      vd->vmmap.width = vd->hdrwidth;      vd->vmmap.format = vd->formatIn;      for (f = 0; f < vd->videombuf.frames; f++)	{	  vd->vmmap.frame = f;	  if (ioctl (vd->fd, VIDIOCMCAPTURE, &(vd->vmmap)))	    {	      perror ("cmcapture");	    }	}      vd->vmmap.frame = 0;    }  else    {      /* read method */      /* allocate the read buffer */      vd->pFramebuffer =	(unsigned char *) realloc (vd->pFramebuffer, (size_t) vd->framesizeIn);      if(debug) printf (" grabbing method READ asked \n");      if (ioctl (vd->fd, VIDIOCGWIN, &(vd->videowin)) < 0)	perror ("VIDIOCGWIN failed \n");      vd->videowin.height = vd->hdrheight;      vd->videowin.width = vd->hdrwidth;      if (ioctl (vd->fd, VIDIOCSWIN, &(vd->videowin)) < 0)	perror ("VIDIOCSWIN failed \n");      if(debug) printf ("VIDIOCSWIN height %d  width %d \n",	      vd->videowin.height, vd->videowin.width);    }  vd->frame_cour = 0;  return erreur;}#if 0staticint probePalette ( struct vdIn *vd ){	/* probe palette and set a default one for unknow cams*/	int pal[] ={VIDEO_PALETTE_JPEG,VIDEO_PALETTE_YUV420P,VIDEO_PALETTE_RGB24,VIDEO_PALETTE_RGB565,VIDEO_PALETTE_RGB32};	struct video_picture pict;	int masq = 0x1;	int i;	int availpal = 0;	int defaut = 1;	/* initialize the internal struct */	if (ioctl (vd->fd, VIDIOCGPICT, &pict) < 0)    		{      		perror ("Couldnt get videopict params with VIDIOCGPICT\n");      		return -1;   		 }	/* try each palette we have we skip raw_jpeg */	for(i = 0; i < 5 ; i++){	pict.palette = pal[i];	/* maybe correct the bug on qca driver depth always 24 ? */		pict.depth = GetDepth (pal[i]);	if(debug) printf("try palette %d depth %d\n",pict.palette,pict.depth);	if (ioctl (vd->fd, VIDIOCSPICT, &pict) < 0)    		{      		if(debug) printf("Couldnt set palette first try %d \n", pal[i]);          		}	if (ioctl (vd->fd, VIDIOCGPICT, &pict) < 0)    		{      		if(debug) printf("Couldnt get palette %d \n", pal[i]);          		}	if (pict.palette != pal[i]){		if(debug) printf("Damned second try fail \n");			} else {		availpal = availpal | masq ;		if(debug) printf("Available  palette %d \n", pal[i]);		if (defaut){		 defaut = 0;		 //vd->formatIn = pal[i];		// vd->bppIn = GetDepth (pal[i]);		}		}			masq = masq << 1;	}	vd->palette = availpal;	//should set default palette here ? return 1;	}staticint probeSize ( struct vdIn *vd ){	/* probe size and set a default one for unknow cams */	int size[] = { 640,480,384,288,352,288,320,240,192,144,176,144,160,120 };	struct video_window win;	int maxw,minw,maxh,minh;	int masq = 0x1;	int i = 0;	int defaut = 1 ;	/* initialize de parameters */	maxw = vd->videocap.maxwidth;	minw = vd->videocap.minwidth;	maxh = vd->videocap.maxheight;	minh = vd->videocap.minheight;	if(debug) printf("probe size in \n");	while (size[i] > maxw){	if(debug) printf("skip size %d x %d\n",size[i],size[i+1]);		i += 2;		masq = masq << 1;		if (i > 13) break;	}	/* initialize the internal struct */	 if (ioctl (vd->fd, VIDIOCGWIN, &win) < 0) {		perror ("VIDIOCGWIN failed \n");		return -1;		}	/* now i is on the first possible width */	while ((size[i] >= minw) && i < 13) {	win.width = size[i];	win.height = size[i+1];	if (ioctl (vd->fd, VIDIOCSWIN, &win) < 0) {      		if(debug) printf ("VIDIOCSWIN reject width %d  height %d \n",	      		win.width, win.height);	          	} else {	vd->sizeothers = vd->sizeothers | masq;	 if(debug) printf ("Available Resolutions width %d  heigth %d \n",	 		win.width, win.height);	if (defaut)		{		 // vd->hdrwidth = win.width;		 // vd->hdrheight = win.height;		  defaut = 0;		}	}	masq = masq << 1 ;	i += 2;	}	return 1;	}#endifintchangeSize (struct vdIn *vd){  int erreur;  erreur = GetVideoPict (vd);  vd->formatIn = vd->videopict.palette;  vd->bppIn = vd->videopict.depth;  /* To Compute the estimate frame size perhaps not need !!! */  if ((vd->bppIn = GetDepth (vd->formatIn)) < 0)    {      perror ("getdepth  failed \n");      exit (1);    }  if (vd->grabMethod)    {      vd->vmmap.height = vd->hdrheight;      vd->vmmap.width = vd->hdrwidth;      vd->vmmap.format = vd->formatIn;    }  else    {      if (ioctl (vd->fd, VIDIOCGWIN, &vd->videowin) < 0)	perror ("VIDIOCGWIN failed \n");      vd->videowin.height = vd->hdrheight;      vd->videowin.width = vd->hdrwidth;      if (ioctl (vd->fd, VIDIOCSWIN, &vd->videowin) < 0)	perror ("VIDIOCSWIN failed \n");      if(debug) printf ("VIDIOCGWIN height %d  width %d \n",	      vd->videowin.height, vd->videowin.width);    }  vd->framesizeIn = ((vd->hdrwidth * vd->hdrheight * vd->bppIn) >> 3);return 0;}#if 0/* return masq byte for the needed size */static int convertsize( int width, int height){	switch (width){	case 640:		if(height == 480)		return VGA;	break;	case 384:		if(height == 288)		return PAL;	break;	case 352:		if(height == 288)		return SIF;	break;	case 320:		if(height == 240)		return CIF;	break;	case 192:		if(height == 144)		return QPAL;	break;	case 176:		if(height == 144)		return QSIF;	break;	case 160:		if(height == 120)		return QCIF;	break;	default:	break;	} return -1;}static int sizeconvert( int *width, int *height, int size){	switch (size){	case VGA:		*height = 480;		*width = 640;			break;	case PAL:		*height = 288;		*width = 384;			break;	case SIF:		*height = 288;		*width = 352;			break;	case CIF:		*height = 240;		*width = 320;			break;	case QPAL:		*height = 144;		*width = 192;			break;	case QSIF:		*height = 144;		*width = 176;			break;	case QCIF:		*height = 120;		*width = 160;			break;	default:	return -1;	break;	} return 0;}static int convertpalette( int palette){	switch (palette){	case VIDEO_PALETTE_JPEG:		return JPG;	break;	case VIDEO_PALETTE_YUV420P:			return YUV420P;	break;	case VIDEO_PALETTE_RGB24:			return RGB24;	break;	case VIDEO_PALETTE_RGB565:			return RGB565;	break;	case VIDEO_PALETTE_RGB32:			return RGB32;	break;	default:	break;	} return -1;}static int paletteconvert( int code){	switch (code){	case JPG:		return VIDEO_PALETTE_JPEG;				break;	case YUV420P:		return VIDEO_PALETTE_YUV420P;			break;	case RGB24:		return VIDEO_PALETTE_RGB24;				break;	case RGB565:		return VIDEO_PALETTE_RGB565;			break;	case RGB32:		return VIDEO_PALETTE_RGB32;			break;	default:	return -1;	break;	} return 0;}/*check palette not so easy try VIDIOCMCAPTURE IOCTL the only one with palette and size *//* some drivers may fail here  */static int checkpalette (struct vdIn *vd){	unsigned char masq = 0x00;	int needpalette = 0;	int palette =0;		needpalette = convertpalette(vd->formatIn); 	/* is the palette available */	if (!(vd->palette & needpalette)){	/* find an other one */		if(needpalette >1){			masq = needpalette -1;		}	if (( masq & vd->palette) > 1){		/* check lower masq upper size */		while (!((needpalette = needpalette >> 1) & vd->palette) && needpalette);	} else if ((masq & vd->palette) == 0){		masq = 0xff -(needpalette << 1) +1;		if ((masq & vd->palette) == 0){			/* no more size available */			needpalette = 0;		} else {		/* check upper masq */			while (!((needpalette = needpalette << 1) & vd->palette) && needpalette);		}		} // maybe == 1	} 		if ((palette = paletteconvert( needpalette)) < 0){		if(debug) printf("Invalid palette in check palette fatal !! \n");		return -1;	}      if (palette){      vd->vmmap.height = vd->hdrheight;      vd->vmmap.width = vd->hdrwidth;      vd->vmmap.format = palette;      	  vd->vmmap.frame = 0;	  if (ioctl (vd->fd, VIDIOCMCAPTURE, &(vd->vmmap)))	    {	      perror ("cmcapture");	      return -1;	    }	    } else {	    if(debug) printf("palette not find check palette fatal !! \n");	    return -1;		    }	    /*populate the change */	vd->formatIn = palette;return palette;   }/* test is palette and size are available otherwhise return the next available palette and size palette is set by preference order jpeg yuv420p rbg24 rgb565 and rgb32 */static int check_palettesize(struct vdIn *vd ){	int needsize = 0;	int needpalette = 0;	unsigned char masq = 0x00;	/* initialize needed size */	if ((needsize = convertsize(vd->hdrwidth,vd->hdrheight)) < 0){	if(debug) printf( "size seem unavailable fatal errors !!\n");		return -1;	}	/* is there a match with available palette */	/* check */	if (!(vd->sizeothers & needsize)){	if (needsize > 1){		masq = needsize -1;		}	if (( masq & vd->sizeothers) > 1){		/* check lower masq upper size */		while (!((needsize = needsize >> 1) & vd->sizeothers) && needsize);	} else if ((masq & vd->sizeothers) == 0){		masq = 0xff -(needsize << 1) +1;		if ((masq & vd->sizeothers) == 0){