| /* |
| * Copyright 2016 The Chromium OS Authors. All rights reserved. |
| * Use of this source code is governed by a BSD-style license that can be |
| * found in the LICENSE file. |
| */ |
| |
| #include "usb/v4l2_camera_device.h" |
| |
| #include <fcntl.h> |
| #include <linux/videodev2.h> |
| #include <sys/ioctl.h> |
| |
| #include <limits> |
| #include <utility> |
| |
| #include <base/files/file_enumerator.h> |
| #include <base/files/file_util.h> |
| #include <base/files/scoped_file.h> |
| #include <base/strings/stringprintf.h> |
| |
| #include "usb/camera_characteristics.h" |
| #include "usb/common.h" |
| |
| namespace arc { |
| |
| // USB VID and PID are both 4 bytes long. |
| static const size_t kVidPidSize = 4; |
| // /sys/class/video4linux/video{N}/device is a symlink to the corresponding |
| // USB device info directory. |
| static const char kVidPathTemplate[] = |
| "/sys/class/video4linux/%s/device/../idVendor"; |
| static const char kPidPathTemplate[] = |
| "/sys/class/video4linux/%s/device/../idProduct"; |
| |
| // Allowed camera devices. |
| static const char kAllowedCameraPrefix[] = "/dev/camera-internal"; |
| static const char kAllowedVideoPrefix[] = "/dev/video"; |
| |
| static bool ReadIdFile(const std::string& path, std::string* id) { |
| char id_buf[kVidPidSize]; |
| FILE* file = fopen(path.c_str(), "rb"); |
| if (!file) |
| return false; |
| const bool success = fread(id_buf, kVidPidSize, 1, file) == 1; |
| fclose(file); |
| if (!success) |
| return false; |
| id->append(id_buf, kVidPidSize); |
| return true; |
| } |
| |
| V4L2CameraDevice::V4L2CameraDevice() : stream_on_(false) {} |
| |
| V4L2CameraDevice::~V4L2CameraDevice() { |
| device_fd_.reset(); |
| } |
| |
| int V4L2CameraDevice::Connect(const std::string& device_path) { |
| VLOGF(1) << "Connecting device path: " << device_path; |
| if (device_path.compare(0, strlen(kAllowedVideoPrefix), |
| kAllowedVideoPrefix)) { |
| LOGF(ERROR) << "Invalid device path " << device_path; |
| return -EINVAL; |
| } |
| if (device_fd_.is_valid()) { |
| LOGF(ERROR) << "A camera device is opened (" << device_fd_.get() |
| << "). Please close it first"; |
| return -EIO; |
| } |
| |
| device_fd_.reset( |
| TEMP_FAILURE_RETRY(open(device_path.c_str(), O_RDWR | O_NOFOLLOW))); |
| if (!device_fd_.is_valid()) { |
| LOGF(ERROR) << "Failed to open " << device_path << " : " << strerror(errno); |
| return -errno; |
| } |
| |
| v4l2_capability cap = {}; |
| if (TEMP_FAILURE_RETRY(ioctl(device_fd_.get(), VIDIOC_QUERYCAP, &cap)) != 0) { |
| LOGF(ERROR) << "VIDIOC_QUERYCAP fail: " << strerror(errno); |
| device_fd_.reset(); |
| return -errno; |
| } |
| |
| // TODO(henryhsu): Add MPLANE support. |
| if (!((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) && |
| !(cap.capabilities & V4L2_CAP_VIDEO_OUTPUT))) { |
| LOGF(ERROR) << "This is not a V4L2 video capture device"; |
| device_fd_.reset(); |
| return -EIO; |
| } |
| |
| // Get and set format here is used to prevent multiple camera using. |
| // UVC driver will acquire lock in VIDIOC_S_FMT and VIDIOC_S_SMT will fail if |
| // the camera is being used by a user. The second user will fail in Connect() |
| // instead of StreamOn(). Usually apps show better error message if camera |
| // open fails. If start preview fails, some apps do not handle it well. |
| int ret; |
| v4l2_format fmt = {}; |
| fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
| ret = TEMP_FAILURE_RETRY(ioctl(device_fd_.get(), VIDIOC_G_FMT, &fmt)); |
| if (ret < 0) { |
| LOGF(ERROR) << "Unable to G_FMT: " << strerror(errno); |
| return -errno; |
| } |
| ret = TEMP_FAILURE_RETRY(ioctl(device_fd_.get(), VIDIOC_S_FMT, &fmt)); |
| if (ret < 0) { |
| LOGF(WARNING) << "Unable to S_FMT: " << strerror(errno) |
| << ", maybe camera is being used by another app."; |
| return -errno; |
| } |
| return 0; |
| } |
| |
| void V4L2CameraDevice::Disconnect() { |
| stream_on_ = false; |
| device_fd_.reset(); |
| buffers_at_client_.clear(); |
| } |
| |
| int V4L2CameraDevice::StreamOn(uint32_t width, |
| uint32_t height, |
| uint32_t pixel_format, |
| float frame_rate, |
| std::vector<int>* fds, |
| uint32_t* buffer_size) { |
| if (!device_fd_.is_valid()) { |
| LOGF(ERROR) << "Device is not opened"; |
| return -ENODEV; |
| } |
| if (stream_on_) { |
| LOGF(ERROR) << "Device has stream already started"; |
| return -EIO; |
| } |
| |
| // Some drivers use rational time per frame instead of float frame rate, this |
| // constant k is used to convert between both: A fps -> [k/k*A] seconds/frame. |
| const int kFrameRatePrecision = 10000; |
| int ret; |
| v4l2_format fmt = {}; |
| fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
| fmt.fmt.pix.width = width; |
| fmt.fmt.pix.height = height; |
| fmt.fmt.pix.pixelformat = pixel_format; |
| ret = TEMP_FAILURE_RETRY(ioctl(device_fd_.get(), VIDIOC_S_FMT, &fmt)); |
| if (ret < 0) { |
| LOGF(ERROR) << "Unable to S_FMT: " << strerror(errno); |
| return -errno; |
| } |
| VLOGF(1) << "Actual width: " << fmt.fmt.pix.width |
| << ", height: " << fmt.fmt.pix.height |
| << ", pixelformat: " << std::hex << fmt.fmt.pix.pixelformat; |
| |
| if (width != fmt.fmt.pix.width || height != fmt.fmt.pix.height || |
| pixel_format != fmt.fmt.pix.pixelformat) { |
| LOGF(ERROR) << "Unsupported format: width " << width << ", height " |
| << height << ", pixelformat " << pixel_format; |
| return -EINVAL; |
| } |
| |
| // Set capture framerate in the form of capture interval. |
| v4l2_streamparm streamparm = {}; |
| streamparm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
| // The following line checks that the driver knows about framerate get/set. |
| if (TEMP_FAILURE_RETRY(ioctl(device_fd_.get(), VIDIOC_G_PARM, &streamparm)) >= |
| 0) { |
| // Now check if the device is able to accept a capture framerate set. |
| if (streamparm.parm.capture.capability & V4L2_CAP_TIMEPERFRAME) { |
| // |frame_rate| is float, approximate by a fraction. |
| streamparm.parm.capture.timeperframe.numerator = kFrameRatePrecision; |
| streamparm.parm.capture.timeperframe.denominator = |
| (frame_rate * kFrameRatePrecision); |
| |
| if (TEMP_FAILURE_RETRY( |
| ioctl(device_fd_.get(), VIDIOC_S_PARM, &streamparm)) < 0) { |
| LOGF(ERROR) << "Failed to set camera framerate"; |
| return -EIO; |
| } |
| VLOGF(1) << "Actual camera driver framerate: " |
| << streamparm.parm.capture.timeperframe.denominator << "/" |
| << streamparm.parm.capture.timeperframe.numerator; |
| } |
| } |
| float fps = streamparm.parm.capture.timeperframe.denominator / |
| streamparm.parm.capture.timeperframe.numerator; |
| if (std::fabs(fps - frame_rate) > std::numeric_limits<float>::epsilon()) { |
| LOGF(ERROR) << "Unsupported frame rate " << frame_rate; |
| return -EINVAL; |
| } |
| *buffer_size = fmt.fmt.pix.sizeimage; |
| VLOGF(1) << "Buffer size: " << *buffer_size; |
| |
| v4l2_requestbuffers req_buffers; |
| memset(&req_buffers, 0, sizeof(req_buffers)); |
| req_buffers.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
| req_buffers.memory = V4L2_MEMORY_MMAP; |
| req_buffers.count = kNumVideoBuffers; |
| if (TEMP_FAILURE_RETRY( |
| ioctl(device_fd_.get(), VIDIOC_REQBUFS, &req_buffers)) < 0) { |
| LOGF(ERROR) << "REQBUFS fails: " << strerror(errno); |
| return -errno; |
| } |
| VLOGF(1) << "Requested buffer number: " << req_buffers.count; |
| |
| buffers_at_client_.resize(req_buffers.count); |
| std::vector<base::ScopedFD> temp_fds; |
| for (uint32_t i = 0; i < req_buffers.count; i++) { |
| v4l2_exportbuffer expbuf; |
| memset(&expbuf, 0, sizeof(expbuf)); |
| expbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
| expbuf.index = i; |
| if (TEMP_FAILURE_RETRY(ioctl(device_fd_.get(), VIDIOC_EXPBUF, &expbuf)) < |
| 0) { |
| LOGF(ERROR) << "EXPBUF (" << i << ") fails: " << strerror(errno); |
| return -errno; |
| } |
| VLOG(1) << "Exported frame buffer fd: " << expbuf.fd; |
| temp_fds.push_back(base::ScopedFD(expbuf.fd)); |
| buffers_at_client_[i] = false; |
| |
| v4l2_buffer buffer = {}; |
| buffer.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
| buffer.index = i; |
| buffer.memory = V4L2_MEMORY_MMAP; |
| |
| if (TEMP_FAILURE_RETRY(ioctl(device_fd_.get(), VIDIOC_QBUF, &buffer)) < 0) { |
| LOGF(ERROR) << "QBUF (" << i << ") fails: " << strerror(errno); |
| return -errno; |
| } |
| } |
| |
| v4l2_buf_type capture_type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
| if (TEMP_FAILURE_RETRY( |
| ioctl(device_fd_.get(), VIDIOC_STREAMON, &capture_type)) < 0) { |
| LOGF(ERROR) << "STREAMON fails: " << strerror(errno); |
| return -errno; |
| } |
| |
| for (size_t i = 1; i < temp_fds.size(); i++) { |
| fds->push_back(temp_fds[i].release()); |
| } |
| |
| stream_on_ = true; |
| return 0; |
| } |
| |
| int V4L2CameraDevice::StreamOff() { |
| if (!device_fd_.is_valid()) { |
| LOGF(ERROR) << "Device is not opened"; |
| return -ENODEV; |
| } |
| // Because UVC driver cannot allow STREAMOFF after REQBUF(0), adding a check |
| // here to prevent it. |
| if (!stream_on_) { |
| return 0; |
| } |
| |
| v4l2_buf_type capture_type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
| if (TEMP_FAILURE_RETRY( |
| ioctl(device_fd_.get(), VIDIOC_STREAMOFF, &capture_type)) < 0) { |
| LOGF(ERROR) << "STREAMOFF fails: " << strerror(errno); |
| return -errno; |
| } |
| v4l2_requestbuffers req_buffers; |
| memset(&req_buffers, 0, sizeof(req_buffers)); |
| req_buffers.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
| req_buffers.memory = V4L2_MEMORY_MMAP; |
| req_buffers.count = 0; |
| if (TEMP_FAILURE_RETRY( |
| ioctl(device_fd_.get(), VIDIOC_REQBUFS, &req_buffers)) < 0) { |
| LOGF(ERROR) << "REQBUFS fails: " << strerror(errno); |
| return -errno; |
| } |
| buffers_at_client_.clear(); |
| stream_on_ = false; |
| return 0; |
| } |
| |
| int V4L2CameraDevice::GetNextFrameBuffer(uint32_t* buffer_id, |
| uint32_t* data_size) { |
| if (!device_fd_.is_valid()) { |
| LOGF(ERROR) << "Device is not opened"; |
| return -ENODEV; |
| } |
| if (!stream_on_) { |
| LOGF(ERROR) << "Streaming is not started"; |
| return -EIO; |
| } |
| |
| v4l2_buffer buffer; |
| memset(&buffer, 0, sizeof(buffer)); |
| buffer.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
| buffer.memory = V4L2_MEMORY_MMAP; |
| if (TEMP_FAILURE_RETRY(ioctl(device_fd_.get(), VIDIOC_DQBUF, &buffer)) < 0) { |
| LOGF(ERROR) << "DQBUF fails: " << strerror(errno); |
| return -errno; |
| } |
| VLOGF(1) << "DQBUF returns index " << buffer.index << " length " |
| << buffer.length; |
| |
| if (buffer.index >= buffers_at_client_.size() || |
| buffers_at_client_[buffer.index]) { |
| LOGF(ERROR) << "Invalid buffer id " << buffer.index; |
| return -EINVAL; |
| } |
| *buffer_id = buffer.index; |
| *data_size = buffer.bytesused; |
| buffers_at_client_[buffer.index] = true; |
| return 0; |
| } |
| |
| int V4L2CameraDevice::ReuseFrameBuffer(uint32_t buffer_id) { |
| if (!device_fd_.is_valid()) { |
| LOGF(ERROR) << "Device is not opened"; |
| return -ENODEV; |
| } |
| if (!stream_on_) { |
| LOGF(ERROR) << "Streaming is not started"; |
| return -EIO; |
| } |
| |
| VLOG(1) << "Reuse buffer id: " << buffer_id; |
| if (buffer_id >= buffers_at_client_.size() || |
| !buffers_at_client_[buffer_id]) { |
| LOGF(ERROR) << "Invalid buffer id: " << buffer_id; |
| return -EINVAL; |
| } |
| v4l2_buffer buffer; |
| memset(&buffer, 0, sizeof(buffer)); |
| buffer.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
| buffer.memory = V4L2_MEMORY_MMAP; |
| buffer.index = buffer_id; |
| if (TEMP_FAILURE_RETRY(ioctl(device_fd_.get(), VIDIOC_QBUF, &buffer)) < 0) { |
| LOGF(ERROR) << "QBUF fails: " << strerror(errno); |
| return -errno; |
| } |
| buffers_at_client_[buffer.index] = false; |
| return 0; |
| } |
| |
| const SupportedFormats V4L2CameraDevice::GetDeviceSupportedFormats( |
| const std::string& device_path) { |
| VLOG(1) << "Query supported formats for " << device_path; |
| SupportedFormats formats; |
| if (device_path.compare(0, strlen(kAllowedVideoPrefix), |
| kAllowedVideoPrefix)) { |
| LOGF(ERROR) << "Invalid device path " << device_path; |
| return formats; |
| } |
| base::ScopedFD fd( |
| TEMP_FAILURE_RETRY(open(device_path.c_str(), O_RDONLY | O_NOFOLLOW))); |
| if (!fd.is_valid()) { |
| LOGF(ERROR) << "Failed to open " << device_path << " : " << strerror(errno); |
| return formats; |
| } |
| |
| v4l2_fmtdesc v4l2_format = {}; |
| v4l2_format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
| for (; |
| TEMP_FAILURE_RETRY(ioctl(fd.get(), VIDIOC_ENUM_FMT, &v4l2_format)) == 0; |
| ++v4l2_format.index) { |
| SupportedFormat supported_format; |
| supported_format.fourcc = v4l2_format.pixelformat; |
| |
| v4l2_frmsizeenum frame_size = {}; |
| frame_size.pixel_format = v4l2_format.pixelformat; |
| for (; HANDLE_EINTR(ioctl(fd.get(), VIDIOC_ENUM_FRAMESIZES, &frame_size)) == |
| 0; |
| ++frame_size.index) { |
| if (frame_size.type == V4L2_FRMSIZE_TYPE_DISCRETE) { |
| supported_format.width = frame_size.discrete.width; |
| supported_format.height = frame_size.discrete.height; |
| } else if (frame_size.type == V4L2_FRMSIZE_TYPE_STEPWISE || |
| frame_size.type == V4L2_FRMSIZE_TYPE_CONTINUOUS) { |
| // TODO(henryhsu): see http://crbug.com/249953, support these devices. |
| LOGF(ERROR) << "Stepwise and continuous frame size are unsupported"; |
| return formats; |
| } |
| |
| supported_format.frameRates = GetFrameRateList( |
| fd.get(), v4l2_format.pixelformat, frame_size.discrete.width, |
| frame_size.discrete.height); |
| formats.push_back(supported_format); |
| } |
| } |
| return formats; |
| } |
| |
| const DeviceInfos V4L2CameraDevice::GetCameraDeviceInfos() { |
| // Only internal camera is allowed to be used in container. |
| // /dev/camera-internal* symbolic links should have been created and pointed |
| // to the internal cameras according to Vid and Pid. |
| std::unordered_map<std::string, std::string> devices = |
| GetCameraDevicesByPattern(std::string(kAllowedCameraPrefix) + "*"); |
| |
| if (devices.empty()) { |
| // Symbolic link /dev/camera-internal* is generated from the udev rules |
| // 50-camera.rules in chromeos-bsp-{BOARD}-private. The rules file may not |
| // exist, and it will cause this error. (b/29425883) |
| LOGF(ERROR) << "Cannot find any camera devices with " |
| << kAllowedCameraPrefix << "*"; |
| devices = GetCameraDevicesByPattern(std::string(kAllowedVideoPrefix) + "*"); |
| LOGF(ERROR) << "List available cameras as follows: "; |
| for (const auto& device : devices) { |
| size_t pos = device.first.find(":"); |
| if (pos != std::string::npos) { |
| LOGF(ERROR) << "Device path: " << device.second |
| << " vid: " << device.first.substr(0, pos - 1) |
| << " pid: " << device.first.substr(pos + 1); |
| } else { |
| LOGF(ERROR) << "Invalid device: " << device.first; |
| } |
| } |
| return DeviceInfos(); |
| } |
| |
| CameraCharacteristics characteristics; |
| return characteristics.GetCharacteristicsFromFile(devices); |
| } |
| |
| std::vector<float> V4L2CameraDevice::GetFrameRateList(int fd, |
| uint32_t fourcc, |
| uint32_t width, |
| uint32_t height) { |
| std::vector<float> frame_rates; |
| |
| v4l2_frmivalenum frame_interval = {}; |
| frame_interval.pixel_format = fourcc; |
| frame_interval.width = width; |
| frame_interval.height = height; |
| for (; TEMP_FAILURE_RETRY( |
| ioctl(fd, VIDIOC_ENUM_FRAMEINTERVALS, &frame_interval)) == 0; |
| ++frame_interval.index) { |
| if (frame_interval.type == V4L2_FRMIVAL_TYPE_DISCRETE) { |
| if (frame_interval.discrete.numerator != 0) { |
| frame_rates.push_back( |
| frame_interval.discrete.denominator / |
| static_cast<float>(frame_interval.discrete.numerator)); |
| } |
| } else if (frame_interval.type == V4L2_FRMIVAL_TYPE_CONTINUOUS || |
| frame_interval.type == V4L2_FRMIVAL_TYPE_STEPWISE) { |
| // TODO(henryhsu): see http://crbug.com/249953, support these devices. |
| LOGF(ERROR) << "Stepwise and continuous frame interval are unsupported"; |
| return frame_rates; |
| } |
| } |
| // Some devices, e.g. Kinect, do not enumerate any frame rates, see |
| // http://crbug.com/412284. Set their frame_rate to zero. |
| if (frame_rates.empty()) { |
| frame_rates.push_back(0); |
| } |
| return frame_rates; |
| } |
| |
| const std::unordered_map<std::string, std::string> |
| V4L2CameraDevice::GetCameraDevicesByPattern(std::string pattern) { |
| const base::FilePath path(pattern); |
| base::FileEnumerator enumerator(path.DirName(), false, |
| base::FileEnumerator::FILES, |
| path.BaseName().value()); |
| std::unordered_map<std::string, std::string> devices; |
| std::string device_path, device_name; |
| |
| while (!enumerator.Next().empty()) { |
| const base::FileEnumerator::FileInfo info = enumerator.GetInfo(); |
| const std::string name = info.GetName().value(); |
| const base::FilePath target_path = path.DirName().Append(name); |
| |
| base::FilePath target; |
| if (base::ReadSymbolicLink(target_path, &target)) { |
| device_path = "/dev/" + target.value(); |
| device_name = target.value(); |
| } else { |
| device_path = target_path.value(); |
| device_name = name; |
| } |
| |
| const base::ScopedFD fd( |
| TEMP_FAILURE_RETRY(open(device_path.c_str(), O_RDONLY | O_NOFOLLOW))); |
| if (!fd.is_valid()) { |
| VLOGF(1) << "Couldn't open " << device_name; |
| continue; |
| } |
| |
| v4l2_capability cap; |
| if ((TEMP_FAILURE_RETRY(ioctl(fd.get(), VIDIOC_QUERYCAP, &cap)) == 0) && |
| ((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) && |
| !(cap.capabilities & V4L2_CAP_VIDEO_OUTPUT))) { |
| const std::string vidPath = |
| base::StringPrintf(kVidPathTemplate, device_name.c_str()); |
| const std::string pidPath = |
| base::StringPrintf(kPidPathTemplate, device_name.c_str()); |
| |
| std::string usb_vid, usb_pid; |
| if (!ReadIdFile(vidPath, &usb_vid)) { |
| VLOGF(1) << "Couldn't read VID of " << device_name; |
| continue; |
| } |
| if (!ReadIdFile(pidPath, &usb_pid)) { |
| VLOGF(1) << "Couldn't read PID of " << device_name; |
| continue; |
| } |
| VLOGF(1) << "Device path: " << device_path << " vid: " << usb_vid |
| << " pid: " << usb_pid; |
| devices.insert(std::make_pair(usb_vid + ":" + usb_pid, device_path)); |
| } |
| } |
| if (devices.empty()) { |
| LOGF(ERROR) << "Cannot find any camera devices with pattern " << pattern; |
| } |
| return devices; |
| } |
| |
| } // namespace arc |