?? camera.cpp
字號:
#include "camera.h"
//Construct a camera, get init camera parameter
Camera::Camera(char *deviceIn, int widthIn, int heightIn, int formatIn, int grabmethodIn)
{
memset (&videoIn, 0, sizeof (struct vdIn));
memset(videodevice, 0, sizeof(videodevice));
if(NULL == deviceIn)
{
printf("No device specifyed, using default device:%s\n", defaultDev);
memcpy(videodevice, defaultDev, strlen(defaultDev));
}
else if(strlen(deviceIn) > sizeof(videodevice))
{
printf("The video device name is too long, using default device:%s\n", defaultDev);
memcpy(videodevice, defaultDev, strlen(defaultDev));
}
else
{
memcpy(videodevice, deviceIn, strlen(deviceIn));
}
//for(;;);
printf("videodevice=%s\n", videodevice);
if(widthIn == 320 || widthIn || 640)
{
width = widthIn;
}
else
{
printf("With parameter error, support width is 320 and 640, Using default wotdh: 320\n");
width = 320;
}
if(heightIn == 240 || heightIn == 480)
{
height =heightIn;
}
else
{
printf("Helght parameter error, support height is 240 and 480, Using default height: 240\n");
height = 240;
}
if(formatIn != VIDEO_PALETTE_JPEG)
{
printf("Format error, suppot format is: VIDEO_PALETTE_JPEG=21, using default format: VIDEO_PALETTE_JPEG\n");
format = VIDEO_PALETTE_JPEG;
}
else
{
format = formatIn;
}
if(grabmethodIn== methodRead || grabmethodIn== methodMmap)
{
grabmethod = grabmethodIn;
}
else
{
printf("Grab image method error, support method is methodRead =0 and methodMmap = 1, using default method: methodRead\n");
grabmethod = methodRead;
}
initBlist();
}
//overload construct function for convenience
/*Camera::Camera()
{
memcpy(videodevice, "/dev/v4l/video0", strlen("/dev/v4l/video0"));
format = VIDEO_PALETTE_JPEG;
grabmethod = methodRead;
height = 240;
width = 320;
}*/
//destroy a camera, just close it
Camera::~Camera()
{
close_v4l (&videoIn);
}
void Camera::initBlist()
{
for(int i = 0; i < 21; i++)
{
memset(Blist[i].name, 0, sizeof(Blist[i].name));
}
memcpy(Blist[0].name, "SPCA505", strlen("SPCA505"));
Blist[0].num = BRIDGE_SPCA505 ;
memcpy(Blist[1].name, "SPCA506", strlen("SPCA506"));
Blist[1].num = BRIDGE_SPCA506;
memcpy(Blist[2].name, "SPCA501", strlen("SPCA501"));
Blist[2].num = BRIDGE_SPCA501;
memcpy(Blist[3].name, "SPCA508", strlen("SPCA508"));
Blist[3].num = BRIDGE_SPCA508;
memcpy(Blist[4].name, "SPCA504", strlen("SPCA504"));
Blist[4].num = BRIDGE_SPCA504;
memcpy(Blist[5].name, "SPCA500", strlen("SPCA500"));
Blist[5].num = BRIDGE_SPCA500;
memcpy(Blist[0].name, "SPCA504B", strlen("SPCA504B"));
Blist[0].num = BRIDGE_SPCA504B;
memcpy(Blist[6].name, "SPCA533", strlen("SPCA533"));
Blist[6].num = BRIDGE_SPCA533;
memcpy(Blist[7].name, "SPCA504C", strlen("SPCA504C"));
Blist[7].num = BRIDGE_SPCA504C;
memcpy(Blist[8].name, "SPCA561", strlen("SPCA561"));
Blist[8].num = BRIDGE_SPCA561;
memcpy(Blist[9].name, "SPCA536", strlen("SPCA536"));
Blist[9].num = BRIDGE_SPCA536;
memcpy(Blist[10].name, "SN9C102", strlen("SN9C102"));
Blist[10].num = BRIDGE_SONIX;
memcpy(Blist[11].name, "ZR364XX", strlen("ZR364XX"));
Blist[11].num = BRIDGE_ZR364XX;
memcpy(Blist[12].name, "ZC301-2", strlen("ZC301-2"));
Blist[12].num = BRIDGE_ZC3XX;
memcpy(Blist[13].name, "CX11646", strlen("CX11646"));
Blist[13].num = BRIDGE_CX11646;
memcpy(Blist[14].name, "TV8532", strlen("TV8532"));
Blist[14].num = BRIDGE_TV8532;
memcpy(Blist[15].name, "ET61XX51", strlen("ET61XX51"));
Blist[15].num = BRIDGE_ETOMS;
memcpy(Blist[16].name, "SN9CXXX", strlen("SN9CXXX"));
Blist[16].num = BRIDGE_SN9CXXX;
memcpy(Blist[17].name, "MR97311", strlen("MR97311"));
Blist[17].num = BRIDGE_MR97311;
memcpy(Blist[18].name, "UNKNOW", strlen("UNKNOW"));
Blist[18].num = BRIDGE_UNKNOW;
Blist[19].num = -1;
}
//Init the camera, and create a thread to grab image
void Camera::openCamera()
{
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
init_videoIn(&videoIn, videodevice, width, height, format,grabmethod);
pthread_create (&grabImgThrdId, NULL, grab, (void*)&videoIn);
//pthread_create (&grabImgThrdId, &attr, Camera::grab, NULL);
//pthread_create (&grabImgThrdId, NULL, test, (void*)&tmp);
signal(SIGPIPE, SIG_IGN); /* Ignore sigpipe */
sigchld_handler();
sigemptyset(&sa.sa_mask);
sa.sa_flags = SA_RESTART;
}
void Camera::sigchld_handler()
{
videoIn.signalquit = 0;
}
//close the cameara
void Camera::closeCamera()
{
close_v4l (&videoIn);
}
int Camera::readFrame(char *buf)
{
//int ret;
int frameout = 1;
//unsigned char wakeup = 0;
struct frame_t *headerframe;
while ((frameout == videoIn.frame_cour) && videoIn.signalquit)
{
printf("Image is not ready, waiting 1 ms\n");
usleep(1000);
}
videoIn.framelock[frameout]++;
headerframe = (struct frame_t *) videoIn.ptframe[frameout];
memcpy(buf, (unsigned char*)(videoIn.ptframe[frameout]+sizeof(struct frame_t)), headerframe->size);
videoIn.framelock[frameout]--;
frameout = (frameout+1)%4;
return headerframe->size;
}
void Camera::upbright()
{
unsigned short bright =0;
bright = videoIn.videopict.brightness;
if(( bright+0x200) < 0xffff)
{
bright += 0x200;
videoIn.videopict.brightness = bright;
if (SetVideoPict (&videoIn) < 0)
{
printf("Upbright bright failed\n");
}
}
}
void Camera::downbright()
{
unsigned short bright =0;
bright = videoIn.videopict.brightness;
if(( bright-0x200) > 0)
{
bright -= 0x200;
videoIn.videopict.brightness = bright;
if (SetVideoPict (&videoIn) < 0)
{
printf("Down bright failed\n");
}
}
}
void Camera::upcontrast()
{
unsigned short contrast =0;
contrast = videoIn.videopict.contrast;
if((contrast+0x200) < 0xffff)
{
contrast += 0x200;
videoIn.videopict.contrast = contrast;
if (SetVideoPict (&videoIn) < 0)
{
printf("Up contrast failed\n");
}
}
}
void Camera::downcontrast()
{
unsigned short contrast =0;
contrast = videoIn.videopict.contrast;
if((contrast-0x200) > 0)
{
contrast -= 0x200;
videoIn.videopict.contrast = contrast;
if (SetVideoPict (&videoIn) < 0)
{
printf("Down contrast failed\n");
}
}
}
int Camera::init_videoIn (struct vdIn *vd, char *device, int width, int height, int format, int grabmethod)
{
int err = -1;
int i;
if (vd == NULL || device == NULL)
return -1;
if (width == 0 || height == 0)
return -1;
if(grabmethod < 0 || grabmethod > 1)
grabmethod = 1; //read by default;
// check format
vd->videodevice = NULL;
vd->cameraname = NULL;
vd->videodevice = NULL;
vd->videodevice = (char *) realloc (vd->videodevice, 16);
vd->cameraname = (char *) realloc (vd->cameraname, 32);
snprintf (vd->videodevice, 12, "%s", device);
if(debug)
printf("video %s \n",vd->videodevice);
memset (vd->cameraname, 0, sizeof (vd->cameraname));
memset(vd->bridge, 0, sizeof(vd->bridge));
vd->signalquit = 1;
vd->hdrwidth = width;
vd->hdrheight = height;
/*compute the max frame size */
vd->formatIn = format;
vd->bppIn = GetDepth (vd->formatIn);
vd->grabMethod = grabmethod; //mmap or read
vd->pFramebuffer = NULL;
/* init and check all setting */
err = init_v4l (vd);
/* allocate the 4 frames output buffer */
for (i = 0; i < OUTFRMNUMB; i++)
{
vd->ptframe[i] = NULL;
vd->ptframe[i] = (unsigned char *) realloc (vd->ptframe[i], sizeof(struct frame_t) + (size_t) vd->framesizeIn );
vd->framelock[i] = 0;
}
vd->frame_cour = 0;
pthread_mutex_init (&vd->grabmutex, NULL);
return err;
}
int Camera::GetDepth (int format)
{
int depth;
switch (format)
{
case VIDEO_PALETTE_JPEG:
{
depth = 8;
break;
}
case VIDEO_PALETTE_RAW:
{
depth = 8;
break;
}
case VIDEO_PALETTE_YUV420P:
{
depth = (8 * 3) >> 1;
break;
}
case VIDEO_PALETTE_RGB565:
{
depth = 16;
break;
}
case VIDEO_PALETTE_RGB24:
{
depth = 24;
break;
}
case VIDEO_PALETTE_RGB32:
{
depth = 32;
break;
}
default:
{
depth = -1;
break;
}
}
return depth;
}
int Camera::init_v4l (struct vdIn *vd)
{
int f;
int erreur = 0;
if ((vd->fd = open (vd->videodevice, O_RDWR)) == -1)
exit_fatal ("ERROR opening V4L interface");
if (ioctl (vd->fd, VIDIOCGCAP, &(vd->videocap)) == -1)
exit_fatal ("Couldn't get videodevice capability");
if(debug)
printf ("Camera found: %s \n", vd->videocap.name);
snprintf (vd->cameraname, 32, "%s", vd->videocap.name);
erreur = GetVideoPict (vd);
if (ioctl (vd->fd, VIDIOCGCHAN, &vd->videochan) == -1)
{
if(debug) printf ("Hmm did not support Video_channel\n");
vd->cameratype = UNOW;
}
else
{
if (vd->videochan.name)
{
if(debug) printf ("Bridge found: %s \n", vd->videochan.name);
snprintf (vd->bridge, 9, "%s", vd->videochan.name);
vd->cameratype = GetStreamId (vd->videochan.name);
spcaPrintParam (vd->fd,&vd->videoparam);
}
else
{
if(debug)
printf ("Bridge not found not a spca5xx Webcam Probing the hardware !!\n");
vd->cameratype = UNOW;
}
}
/* Only jpeg webcam allowed */
if(vd->cameratype != JPEG)
{
exit_fatal ("Not a JPEG webcam sorry Abort !");
}
if(debug)
printf ("StreamId: %d Camera\n", vd->cameratype);
vd->videopict.palette = vd->formatIn;
vd->videopict.depth = GetDepth (vd->formatIn);
vd->bppIn = GetDepth (vd->formatIn);
vd->framesizeIn = (vd->hdrwidth * vd->hdrheight >> 2 );
printf("vd->formatIn=%d\n", vd->formatIn);
printf("vd->videopict.depth=%d\n", vd->videopict.depth);
printf("vd->bppIn=%d\n", vd->bppIn);
printf("vd->hdrwidth=%d, vd->hdrheight=%d, vd->framesizeIn=%d\n", vd->hdrwidth, vd->hdrheight, vd->framesizeIn);
printf("vd->fd=%d\n", vd->fd);
erreur = SetVideoPict (vd);
erreur = GetVideoPict (vd);
if (vd->formatIn != vd->videopict.palette || vd->bppIn != vd->videopict.depth)
exit_fatal ("could't set video palette Abort !");
if (erreur < 0)
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