blob: 7d8ac8e44cbb727cd4fce73b6067cc549d77aa32 [file] [log] [blame]
/*
* yavta -- Yet Another V4L2 Test Application
*
* Copyright (C) 2005-2010 Laurent Pinchart <laurent.pinchart@ideasonboard.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
*/
#define __STDC_FORMAT_MACROS
#include <stdio.h>
#include <string.h>
#include <fcntl.h>
#include <inttypes.h>
#include <unistd.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <errno.h>
#include <getopt.h>
#include <sched.h>
#include <time.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <sys/select.h>
#include <sys/stat.h>
#include <sys/time.h>
#include <linux/videodev2.h>
#ifndef V4L2_BUF_FLAG_ERROR
#define V4L2_BUF_FLAG_ERROR 0x0040
#endif
#define ARRAY_SIZE(a) (sizeof(a)/sizeof((a)[0]))
enum buffer_fill_mode
{
BUFFER_FILL_NONE = 0,
BUFFER_FILL_FRAME = 1 << 0,
BUFFER_FILL_PADDING = 1 << 1,
};
struct buffer
{
unsigned int idx;
unsigned int padding[VIDEO_MAX_PLANES];
unsigned int size[VIDEO_MAX_PLANES];
void *mem[VIDEO_MAX_PLANES];
};
struct device
{
int fd;
int opened;
enum v4l2_buf_type type;
enum v4l2_memory memtype;
unsigned int nbufs;
struct buffer *buffers;
unsigned int width;
unsigned int height;
uint32_t buffer_output_flags;
uint32_t timestamp_type;
unsigned char num_planes;
struct v4l2_plane_pix_format plane_fmt[VIDEO_MAX_PLANES];
void *pattern[VIDEO_MAX_PLANES];
unsigned int patternsize[VIDEO_MAX_PLANES];
bool write_data_prefix;
};
static bool video_is_mplane(struct device *dev)
{
return dev->type == V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE ||
dev->type == V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
}
static bool video_is_capture(struct device *dev)
{
return dev->type == V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE ||
dev->type == V4L2_BUF_TYPE_VIDEO_CAPTURE;
}
static bool video_is_output(struct device *dev)
{
return dev->type == V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE ||
dev->type == V4L2_BUF_TYPE_VIDEO_OUTPUT;
}
static struct {
enum v4l2_buf_type type;
bool supported;
const char *name;
const char *string;
} buf_types[] = {
{ V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, 1, "Video capture mplanes", "capture-mplane", },
{ V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, 1, "Video output", "output-mplane", },
{ V4L2_BUF_TYPE_VIDEO_CAPTURE, 1, "Video capture", "capture", },
{ V4L2_BUF_TYPE_VIDEO_OUTPUT, 1, "Video output mplanes", "output", },
{ V4L2_BUF_TYPE_VIDEO_OVERLAY, 0, "Video overlay", "overlay" },
};
static int v4l2_buf_type_from_string(const char *str)
{
unsigned int i;
for (i = 0; i < ARRAY_SIZE(buf_types); i++) {
if (!buf_types[i].supported)
continue;
if (strcmp(buf_types[i].string, str))
continue;
return buf_types[i].type;
}
return -1;
}
static const char *v4l2_buf_type_name(enum v4l2_buf_type type)
{
unsigned int i;
for (i = 0; i < ARRAY_SIZE(buf_types); ++i) {
if (buf_types[i].type == type)
return buf_types[i].name;
}
if (type & V4L2_BUF_TYPE_PRIVATE)
return "Private";
else
return "Unknown";
}
static struct v4l2_format_info {
const char *name;
unsigned int fourcc;
unsigned char n_planes;
} pixel_formats[] = {
{ "RGB332", V4L2_PIX_FMT_RGB332, 1 },
{ "RGB444", V4L2_PIX_FMT_RGB444, 1 },
{ "ARGB444", V4L2_PIX_FMT_ARGB444, 1 },
{ "XRGB444", V4L2_PIX_FMT_XRGB444, 1 },
{ "RGB555", V4L2_PIX_FMT_RGB555, 1 },
{ "ARGB555", V4L2_PIX_FMT_ARGB555, 1 },
{ "XRGB555", V4L2_PIX_FMT_XRGB555, 1 },
{ "RGB565", V4L2_PIX_FMT_RGB565, 1 },
{ "RGB555X", V4L2_PIX_FMT_RGB555X, 1 },
{ "RGB565X", V4L2_PIX_FMT_RGB565X, 1 },
{ "BGR666", V4L2_PIX_FMT_BGR666, 1 },
{ "BGR24", V4L2_PIX_FMT_BGR24, 1 },
{ "RGB24", V4L2_PIX_FMT_RGB24, 1 },
{ "BGR32", V4L2_PIX_FMT_BGR32, 1 },
{ "ABGR32", V4L2_PIX_FMT_ABGR32, 1 },
{ "XBGR32", V4L2_PIX_FMT_XBGR32, 1 },
{ "RGB32", V4L2_PIX_FMT_RGB32, 1 },
{ "ARGB32", V4L2_PIX_FMT_ARGB32, 1 },
{ "XRGB32", V4L2_PIX_FMT_XRGB32, 1 },
{ "Y8", V4L2_PIX_FMT_GREY, 1 },
{ "Y10", V4L2_PIX_FMT_Y10, 1 },
{ "Y12", V4L2_PIX_FMT_Y12, 1 },
{ "Y16", V4L2_PIX_FMT_Y16, 1 },
{ "UYVY", V4L2_PIX_FMT_UYVY, 1 },
{ "VYUY", V4L2_PIX_FMT_VYUY, 1 },
{ "YUYV", V4L2_PIX_FMT_YUYV, 1 },
{ "YVYU", V4L2_PIX_FMT_YVYU, 1 },
{ "NV12", V4L2_PIX_FMT_NV12, 1 },
{ "NV12M", V4L2_PIX_FMT_NV12M, 2 },
{ "NV21", V4L2_PIX_FMT_NV21, 1 },
{ "NV21M", V4L2_PIX_FMT_NV21M, 2 },
{ "NV16", V4L2_PIX_FMT_NV16, 1 },
{ "NV16M", V4L2_PIX_FMT_NV16M, 2 },
{ "NV61", V4L2_PIX_FMT_NV61, 1 },
{ "NV61M", V4L2_PIX_FMT_NV61M, 2 },
{ "NV24", V4L2_PIX_FMT_NV24, 1 },
{ "NV42", V4L2_PIX_FMT_NV42, 1 },
{ "YUV420M", V4L2_PIX_FMT_YUV420M, 3 },
{ "SBGGR8", V4L2_PIX_FMT_SBGGR8, 1 },
{ "SGBRG8", V4L2_PIX_FMT_SGBRG8, 1 },
{ "SGRBG8", V4L2_PIX_FMT_SGRBG8, 1 },
{ "SRGGB8", V4L2_PIX_FMT_SRGGB8, 1 },
{ "SBGGR10_DPCM8", V4L2_PIX_FMT_SBGGR10DPCM8, 1 },
{ "SGBRG10_DPCM8", V4L2_PIX_FMT_SGBRG10DPCM8, 1 },
{ "SGRBG10_DPCM8", V4L2_PIX_FMT_SGRBG10DPCM8, 1 },
{ "SRGGB10_DPCM8", V4L2_PIX_FMT_SRGGB10DPCM8, 1 },
{ "SBGGR10", V4L2_PIX_FMT_SBGGR10, 1 },
{ "SGBRG10", V4L2_PIX_FMT_SGBRG10, 1 },
{ "SGRBG10", V4L2_PIX_FMT_SGRBG10, 1 },
{ "SRGGB10", V4L2_PIX_FMT_SRGGB10, 1 },
{ "SBGGR10P", V4L2_PIX_FMT_SBGGR10P, 1 },
{ "SGBRG10P", V4L2_PIX_FMT_SGBRG10P, 1 },
{ "SGRBG10P", V4L2_PIX_FMT_SGRBG10P, 1 },
{ "SRGGB10P", V4L2_PIX_FMT_SRGGB10P, 1 },
{ "SBGGR12", V4L2_PIX_FMT_SBGGR12, 1 },
{ "SGBRG12", V4L2_PIX_FMT_SGBRG12, 1 },
{ "SGRBG12", V4L2_PIX_FMT_SGRBG12, 1 },
{ "SRGGB12", V4L2_PIX_FMT_SRGGB12, 1 },
{ "DV", V4L2_PIX_FMT_DV, 1 },
{ "MJPEG", V4L2_PIX_FMT_MJPEG, 1 },
{ "MPEG", V4L2_PIX_FMT_MPEG, 1 },
};
static const struct v4l2_format_info *v4l2_format_by_fourcc(unsigned int fourcc)
{
unsigned int i;
for (i = 0; i < ARRAY_SIZE(pixel_formats); ++i) {
if (pixel_formats[i].fourcc == fourcc)
return &pixel_formats[i];
}
return NULL;
}
static const struct v4l2_format_info *v4l2_format_by_name(const char *name)
{
unsigned int i;
for (i = 0; i < ARRAY_SIZE(pixel_formats); ++i) {
if (strcasecmp(pixel_formats[i].name, name) == 0)
return &pixel_formats[i];
}
return NULL;
}
static const char *v4l2_format_name(unsigned int fourcc)
{
const struct v4l2_format_info *info;
static char name[5];
unsigned int i;
info = v4l2_format_by_fourcc(fourcc);
if (info)
return info->name;
for (i = 0; i < 4; ++i) {
name[i] = fourcc & 0xff;
fourcc >>= 8;
}
name[4] = '\0';
return name;
}
static const struct {
const char *name;
enum v4l2_field field;
} fields[] = {
{ "any", V4L2_FIELD_ANY },
{ "none", V4L2_FIELD_NONE },
{ "top", V4L2_FIELD_TOP },
{ "bottom", V4L2_FIELD_BOTTOM },
{ "interlaced", V4L2_FIELD_INTERLACED },
{ "seq-tb", V4L2_FIELD_SEQ_TB },
{ "seq-bt", V4L2_FIELD_SEQ_BT },
{ "alternate", V4L2_FIELD_ALTERNATE },
{ "interlaced-tb", V4L2_FIELD_INTERLACED_TB },
{ "interlaced-bt", V4L2_FIELD_INTERLACED_BT },
};
static enum v4l2_field v4l2_field_from_string(const char *name)
{
unsigned int i;
for (i = 0; i < ARRAY_SIZE(fields); ++i) {
if (strcasecmp(fields[i].name, name) == 0)
return fields[i].field;
}
return -1;
}
static const char *v4l2_field_name(enum v4l2_field field)
{
unsigned int i;
for (i = 0; i < ARRAY_SIZE(fields); ++i) {
if (fields[i].field == field)
return fields[i].name;
}
return "unknown";
}
static void video_set_buf_type(struct device *dev, enum v4l2_buf_type type)
{
dev->type = type;
}
static bool video_has_valid_buf_type(struct device *dev)
{
return (int)dev->type != -1;
}
static void video_init(struct device *dev)
{
memset(dev, 0, sizeof *dev);
dev->fd = -1;
dev->memtype = V4L2_MEMORY_MMAP;
dev->buffers = NULL;
dev->type = (enum v4l2_buf_type)-1;
}
static bool video_has_fd(struct device *dev)
{
return dev->fd != -1;
}
static int video_set_fd(struct device *dev, int fd)
{
if (video_has_fd(dev)) {
printf("Can't set fd (already open).\n");
return -1;
}
dev->fd = fd;
return 0;
}
static int video_open(struct device *dev, const char *devname)
{
if (video_has_fd(dev)) {
printf("Can't open device (already open).\n");
return -1;
}
dev->fd = open(devname, O_RDWR);
if (dev->fd < 0) {
printf("Error opening device %s: %s (%d).\n", devname,
strerror(errno), errno);
return dev->fd;
}
printf("Device %s opened.\n", devname);
dev->opened = 1;
return 0;
}
static int video_querycap(struct device *dev, unsigned int *capabilities)
{
struct v4l2_capability cap;
unsigned int caps;
int ret;
memset(&cap, 0, sizeof cap);
ret = ioctl(dev->fd, VIDIOC_QUERYCAP, &cap);
if (ret < 0)
return 0;
caps = cap.capabilities & V4L2_CAP_DEVICE_CAPS
? cap.device_caps : cap.capabilities;
printf("Device `%s' on `%s' is a video %s (%s mplanes) device.\n",
cap.card, cap.bus_info,
caps & (V4L2_CAP_VIDEO_CAPTURE_MPLANE | V4L2_CAP_VIDEO_CAPTURE) ? "capture" : "output",
caps & (V4L2_CAP_VIDEO_CAPTURE_MPLANE | V4L2_CAP_VIDEO_OUTPUT_MPLANE) ? "with" : "without");
*capabilities = caps;
return 0;
}
static int cap_get_buf_type(unsigned int capabilities)
{
if (capabilities & V4L2_CAP_VIDEO_CAPTURE_MPLANE) {
return V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
} else if (capabilities & V4L2_CAP_VIDEO_OUTPUT_MPLANE) {
return V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
} else if (capabilities & V4L2_CAP_VIDEO_CAPTURE) {
return V4L2_BUF_TYPE_VIDEO_CAPTURE;
} else if (capabilities & V4L2_CAP_VIDEO_OUTPUT) {
return V4L2_BUF_TYPE_VIDEO_OUTPUT;
} else {
printf("Device supports neither capture nor output.\n");
return -EINVAL;
}
return 0;
}
static void video_close(struct device *dev)
{
unsigned int i;
for (i = 0; i < dev->num_planes; i++)
free(dev->pattern[i]);
free(dev->buffers);
if (dev->opened)
close(dev->fd);
}
static void video_log_status(struct device *dev)
{
ioctl(dev->fd, VIDIOC_LOG_STATUS);
}
static int query_control(struct device *dev, unsigned int id,
struct v4l2_queryctrl *query)
{
int ret;
memset(query, 0, sizeof(*query));
query->id = id;
ret = ioctl(dev->fd, VIDIOC_QUERYCTRL, query);
if (ret < 0 && errno != EINVAL)
printf("unable to query control 0x%8.8x: %s (%d).\n",
id, strerror(errno), errno);
return ret;
}
static int get_control(struct device *dev, const struct v4l2_queryctrl *query,
struct v4l2_ext_control *ctrl)
{
struct v4l2_ext_controls ctrls;
int ret;
memset(&ctrls, 0, sizeof(ctrls));
memset(ctrl, 0, sizeof(*ctrl));
ctrls.ctrl_class = V4L2_CTRL_ID2CLASS(query->id);
ctrls.count = 1;
ctrls.controls = ctrl;
ctrl->id = query->id;
if (query->type == V4L2_CTRL_TYPE_STRING) {
ctrl->string = malloc(query->maximum + 1);
if (ctrl->string == NULL)
return -ENOMEM;
ctrl->size = query->maximum + 1;
}
ret = ioctl(dev->fd, VIDIOC_G_EXT_CTRLS, &ctrls);
if (ret != -1)
return 0;
if (query->type != V4L2_CTRL_TYPE_INTEGER64 &&
query->type != V4L2_CTRL_TYPE_STRING &&
(errno == EINVAL || errno == ENOTTY)) {
struct v4l2_control old;
old.id = query->id;
ret = ioctl(dev->fd, VIDIOC_G_CTRL, &old);
if (ret != -1) {
ctrl->value = old.value;
return 0;
}
}
printf("unable to get control 0x%8.8x: %s (%d).\n",
query->id, strerror(errno), errno);
return -1;
}
static void set_control(struct device *dev, unsigned int id,
int64_t val)
{
struct v4l2_ext_controls ctrls;
struct v4l2_ext_control ctrl;
struct v4l2_queryctrl query;
int64_t old_val = val;
int is_64;
int ret;
ret = query_control(dev, id, &query);
if (ret < 0)
return;
is_64 = query.type == V4L2_CTRL_TYPE_INTEGER64;
memset(&ctrls, 0, sizeof(ctrls));
memset(&ctrl, 0, sizeof(ctrl));
ctrls.ctrl_class = V4L2_CTRL_ID2CLASS(id);
ctrls.count = 1;
ctrls.controls = &ctrl;
ctrl.id = id;
if (is_64)
ctrl.value64 = val;
else
ctrl.value = val;
ret = ioctl(dev->fd, VIDIOC_S_EXT_CTRLS, &ctrls);
if (ret != -1) {
if (is_64)
val = ctrl.value64;
else
val = ctrl.value;
} else if (!is_64 && query.type != V4L2_CTRL_TYPE_STRING &&
(errno == EINVAL || errno == ENOTTY)) {
struct v4l2_control old;
old.id = id;
old.value = val;
ret = ioctl(dev->fd, VIDIOC_S_CTRL, &old);
if (ret != -1)
val = old.value;
}
if (ret == -1) {
printf("unable to set control 0x%8.8x: %s (%d).\n",
id, strerror(errno), errno);
return;
}
printf("Control 0x%08x set to %" PRId64 ", is %" PRId64 "\n",
id, old_val, val);
}
static int video_get_format(struct device *dev)
{
struct v4l2_format fmt;
unsigned int i;
int ret;
memset(&fmt, 0, sizeof fmt);
fmt.type = dev->type;
ret = ioctl(dev->fd, VIDIOC_G_FMT, &fmt);
if (ret < 0) {
printf("Unable to get format: %s (%d).\n", strerror(errno),
errno);
return ret;
}
if (video_is_mplane(dev)) {
dev->width = fmt.fmt.pix_mp.width;
dev->height = fmt.fmt.pix_mp.height;
dev->num_planes = fmt.fmt.pix_mp.num_planes;
printf("Video format: %s (%08x) %ux%u field %s, %u planes: \n",
v4l2_format_name(fmt.fmt.pix_mp.pixelformat), fmt.fmt.pix_mp.pixelformat,
fmt.fmt.pix_mp.width, fmt.fmt.pix_mp.height,
v4l2_field_name(fmt.fmt.pix_mp.field),
fmt.fmt.pix_mp.num_planes);
for (i = 0; i < fmt.fmt.pix_mp.num_planes; i++) {
dev->plane_fmt[i].bytesperline =
fmt.fmt.pix_mp.plane_fmt[i].bytesperline;
dev->plane_fmt[i].sizeimage =
fmt.fmt.pix_mp.plane_fmt[i].bytesperline ?
fmt.fmt.pix_mp.plane_fmt[i].sizeimage : 0;
printf(" * Stride %u, buffer size %u\n",
fmt.fmt.pix_mp.plane_fmt[i].bytesperline,
fmt.fmt.pix_mp.plane_fmt[i].sizeimage);
}
} else {
dev->width = fmt.fmt.pix.width;
dev->height = fmt.fmt.pix.height;
dev->num_planes = 1;
dev->plane_fmt[0].bytesperline = fmt.fmt.pix.bytesperline;
dev->plane_fmt[0].sizeimage = fmt.fmt.pix.bytesperline ? fmt.fmt.pix.sizeimage : 0;
printf("Video format: %s (%08x) %ux%u (stride %u) field %s buffer size %u\n",
v4l2_format_name(fmt.fmt.pix.pixelformat), fmt.fmt.pix.pixelformat,
fmt.fmt.pix.width, fmt.fmt.pix.height, fmt.fmt.pix.bytesperline,
v4l2_field_name(fmt.fmt.pix_mp.field),
fmt.fmt.pix.sizeimage);
}
return 0;
}
static int video_set_format(struct device *dev, unsigned int w, unsigned int h,
unsigned int format, unsigned int stride,
unsigned int buffer_size, enum v4l2_field field,
unsigned int flags)
{
struct v4l2_format fmt;
unsigned int i;
int ret;
memset(&fmt, 0, sizeof fmt);
fmt.type = dev->type;
if (video_is_mplane(dev)) {
const struct v4l2_format_info *info = v4l2_format_by_fourcc(format);
fmt.fmt.pix_mp.width = w;
fmt.fmt.pix_mp.height = h;
fmt.fmt.pix_mp.pixelformat = format;
fmt.fmt.pix_mp.field = field;
fmt.fmt.pix_mp.num_planes = info->n_planes;
fmt.fmt.pix_mp.flags = flags;
for (i = 0; i < fmt.fmt.pix_mp.num_planes; i++) {
fmt.fmt.pix_mp.plane_fmt[i].bytesperline = stride;
fmt.fmt.pix_mp.plane_fmt[i].sizeimage = buffer_size;
}
} else {
fmt.fmt.pix.width = w;
fmt.fmt.pix.height = h;
fmt.fmt.pix.pixelformat = format;
fmt.fmt.pix.field = field;
fmt.fmt.pix.bytesperline = stride;
fmt.fmt.pix.sizeimage = buffer_size;
fmt.fmt.pix.priv = V4L2_PIX_FMT_PRIV_MAGIC;
fmt.fmt.pix.flags = flags;
}
ret = ioctl(dev->fd, VIDIOC_S_FMT, &fmt);
if (ret < 0) {
printf("Unable to set format: %s (%d).\n", strerror(errno),
errno);
return ret;
}
if (video_is_mplane(dev)) {
printf("Video format set: %s (%08x) %ux%u field %s, %u planes: \n",
v4l2_format_name(fmt.fmt.pix_mp.pixelformat), fmt.fmt.pix_mp.pixelformat,
fmt.fmt.pix_mp.width, fmt.fmt.pix_mp.height,
v4l2_field_name(fmt.fmt.pix_mp.field),
fmt.fmt.pix_mp.num_planes);
for (i = 0; i < fmt.fmt.pix_mp.num_planes; i++) {
printf(" * Stride %u, buffer size %u\n",
fmt.fmt.pix_mp.plane_fmt[i].bytesperline,
fmt.fmt.pix_mp.plane_fmt[i].sizeimage);
}
} else {
printf("Video format set: %s (%08x) %ux%u (stride %u) field %s buffer size %u\n",
v4l2_format_name(fmt.fmt.pix.pixelformat), fmt.fmt.pix.pixelformat,
fmt.fmt.pix.width, fmt.fmt.pix.height, fmt.fmt.pix.bytesperline,
v4l2_field_name(fmt.fmt.pix.field),
fmt.fmt.pix.sizeimage);
}
return 0;
}
static int video_set_framerate(struct device *dev, struct v4l2_fract *time_per_frame)
{
struct v4l2_streamparm parm;
int ret;
memset(&parm, 0, sizeof parm);
parm.type = dev->type;
ret = ioctl(dev->fd, VIDIOC_G_PARM, &parm);
if (ret < 0) {
printf("Unable to get frame rate: %s (%d).\n",
strerror(errno), errno);
return ret;
}
printf("Current frame rate: %u/%u\n",
parm.parm.capture.timeperframe.numerator,
parm.parm.capture.timeperframe.denominator);
printf("Setting frame rate to: %u/%u\n",
time_per_frame->numerator,
time_per_frame->denominator);
parm.parm.capture.timeperframe.numerator = time_per_frame->numerator;
parm.parm.capture.timeperframe.denominator = time_per_frame->denominator;
ret = ioctl(dev->fd, VIDIOC_S_PARM, &parm);
if (ret < 0) {
printf("Unable to set frame rate: %s (%d).\n", strerror(errno),
errno);
return ret;
}
ret = ioctl(dev->fd, VIDIOC_G_PARM, &parm);
if (ret < 0) {
printf("Unable to get frame rate: %s (%d).\n", strerror(errno),
errno);
return ret;
}
printf("Frame rate set: %u/%u\n",
parm.parm.capture.timeperframe.numerator,
parm.parm.capture.timeperframe.denominator);
return 0;
}
static int video_buffer_mmap(struct device *dev, struct buffer *buffer,
struct v4l2_buffer *v4l2buf)
{
unsigned int length;
unsigned int offset;
unsigned int i;
for (i = 0; i < dev->num_planes; i++) {
if (video_is_mplane(dev)) {
length = v4l2buf->m.planes[i].length;
offset = v4l2buf->m.planes[i].m.mem_offset;
} else {
length = v4l2buf->length;
offset = v4l2buf->m.offset;
}
buffer->mem[i] = mmap(0, length, PROT_READ | PROT_WRITE, MAP_SHARED,
dev->fd, offset);
if (buffer->mem[i] == MAP_FAILED) {
printf("Unable to map buffer %u/%u: %s (%d)\n",
buffer->idx, i, strerror(errno), errno);
return -1;
}
buffer->size[i] = length;
buffer->padding[i] = 0;
printf("Buffer %u/%u mapped at address %p.\n",
buffer->idx, i, buffer->mem[i]);
}
return 0;
}
static int video_buffer_munmap(struct device *dev, struct buffer *buffer)
{
unsigned int i;
int ret;
for (i = 0; i < dev->num_planes; i++) {
ret = munmap(buffer->mem[i], buffer->size[i]);
if (ret < 0) {
printf("Unable to unmap buffer %u/%u: %s (%d)\n",
buffer->idx, i, strerror(errno), errno);
}
buffer->mem[i] = NULL;
}
return 0;
}
static int video_buffer_alloc_userptr(struct device *dev, struct buffer *buffer,
struct v4l2_buffer *v4l2buf,
unsigned int offset, unsigned int padding)
{
int page_size = getpagesize();
unsigned int length;
unsigned int i;
int ret;
for (i = 0; i < dev->num_planes; i++) {
if (video_is_mplane(dev))
length = v4l2buf->m.planes[i].length;
else
length = v4l2buf->length;
ret = posix_memalign(&buffer->mem[i], page_size,
length + offset + padding);
if (ret < 0) {
printf("Unable to allocate buffer %u/%u (%d)\n",
buffer->idx, i, ret);
return -ENOMEM;
}
buffer->mem[i] += offset;
buffer->size[i] = length;
buffer->padding[i] = padding;
printf("Buffer %u/%u allocated at address %p.\n",
buffer->idx, i, buffer->mem[i]);
}
return 0;
}
static void video_buffer_free_userptr(struct device *dev, struct buffer *buffer)
{
unsigned int i;
for (i = 0; i < dev->num_planes; i++) {
free(buffer->mem[i]);
buffer->mem[i] = NULL;
}
}
static void video_buffer_fill_userptr(struct device *dev, struct buffer *buffer,
struct v4l2_buffer *v4l2buf)
{
unsigned int i;
if (!video_is_mplane(dev)) {
v4l2buf->m.userptr = (unsigned long)buffer->mem[0];
return;
}
for (i = 0; i < dev->num_planes; i++)
v4l2buf->m.planes[i].m.userptr = (unsigned long)buffer->mem[i];
}
static void get_ts_flags(uint32_t flags, const char **ts_type, const char **ts_source)
{
switch (flags & V4L2_BUF_FLAG_TIMESTAMP_MASK) {
case V4L2_BUF_FLAG_TIMESTAMP_UNKNOWN:
*ts_type = "unk";
break;
case V4L2_BUF_FLAG_TIMESTAMP_MONOTONIC:
*ts_type = "mono";
break;
case V4L2_BUF_FLAG_TIMESTAMP_COPY:
*ts_type = "copy";
break;
default:
*ts_type = "inv";
}
switch (flags & V4L2_BUF_FLAG_TSTAMP_SRC_MASK) {
case V4L2_BUF_FLAG_TSTAMP_SRC_EOF:
*ts_source = "EoF";
break;
case V4L2_BUF_FLAG_TSTAMP_SRC_SOE:
*ts_source = "SoE";
break;
default:
*ts_source = "inv";
}
}
static int video_alloc_buffers(struct device *dev, int nbufs,
unsigned int offset, unsigned int padding)
{
struct v4l2_plane planes[VIDEO_MAX_PLANES];
struct v4l2_requestbuffers rb;
struct v4l2_buffer buf;
struct buffer *buffers;
unsigned int i;
int ret;
memset(&rb, 0, sizeof rb);
rb.count = nbufs;
rb.type = dev->type;
rb.memory = dev->memtype;
ret = ioctl(dev->fd, VIDIOC_REQBUFS, &rb);
if (ret < 0) {
printf("Unable to request buffers: %s (%d).\n", strerror(errno),
errno);
return ret;
}
printf("%u buffers requested.\n", rb.count);
buffers = malloc(rb.count * sizeof buffers[0]);
if (buffers == NULL)
return -ENOMEM;
/* Map the buffers. */
for (i = 0; i < rb.count; ++i) {
const char *ts_type, *ts_source;
memset(&buf, 0, sizeof buf);
memset(planes, 0, sizeof planes);
buf.index = i;
buf.type = dev->type;
buf.memory = dev->memtype;
buf.length = VIDEO_MAX_PLANES;
buf.m.planes = planes;
ret = ioctl(dev->fd, VIDIOC_QUERYBUF, &buf);
if (ret < 0) {
printf("Unable to query buffer %u: %s (%d).\n", i,
strerror(errno), errno);
return ret;
}
get_ts_flags(buf.flags, &ts_type, &ts_source);
printf("length: %u offset: %u timestamp type/source: %s/%s\n",
buf.length, buf.m.offset, ts_type, ts_source);
buffers[i].idx = i;
switch (dev->memtype) {
case V4L2_MEMORY_MMAP:
ret = video_buffer_mmap(dev, &buffers[i], &buf);
break;
case V4L2_MEMORY_USERPTR:
ret = video_buffer_alloc_userptr(dev, &buffers[i], &buf, offset, padding);
break;
default:
break;
}
if (ret < 0)
return ret;
}
dev->timestamp_type = buf.flags & V4L2_BUF_FLAG_TIMESTAMP_MASK;
dev->buffers = buffers;
dev->nbufs = rb.count;
return 0;
}
static int video_free_buffers(struct device *dev)
{
struct v4l2_requestbuffers rb;
unsigned int i;
int ret;
if (dev->nbufs == 0)
return 0;
for (i = 0; i < dev->nbufs; ++i) {
switch (dev->memtype) {
case V4L2_MEMORY_MMAP:
ret = video_buffer_munmap(dev, &dev->buffers[i]);
if (ret < 0)
return ret;
break;
case V4L2_MEMORY_USERPTR:
video_buffer_free_userptr(dev, &dev->buffers[i]);
break;
default:
break;
}
}
memset(&rb, 0, sizeof rb);
rb.count = 0;
rb.type = dev->type;
rb.memory = dev->memtype;
ret = ioctl(dev->fd, VIDIOC_REQBUFS, &rb);
if (ret < 0) {
printf("Unable to release buffers: %s (%d).\n",
strerror(errno), errno);
return ret;
}
printf("%u buffers released.\n", dev->nbufs);
free(dev->buffers);
dev->nbufs = 0;
dev->buffers = NULL;
return 0;
}
static int video_queue_buffer(struct device *dev, int index, enum buffer_fill_mode fill)
{
struct v4l2_buffer buf;
struct v4l2_plane planes[VIDEO_MAX_PLANES];
int ret;
unsigned int i;
memset(&buf, 0, sizeof buf);
memset(&planes, 0, sizeof planes);
buf.index = index;
buf.type = dev->type;
buf.memory = dev->memtype;
if (video_is_output(dev)) {
buf.flags = dev->buffer_output_flags;
if (dev->timestamp_type == V4L2_BUF_FLAG_TIMESTAMP_COPY) {
struct timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
buf.timestamp.tv_sec = ts.tv_sec;
buf.timestamp.tv_usec = ts.tv_nsec / 1000;
}
}
if (video_is_mplane(dev)) {
buf.m.planes = planes;
buf.length = dev->num_planes;
}
if (dev->memtype == V4L2_MEMORY_USERPTR) {
if (video_is_mplane(dev)) {
for (i = 0; i < dev->num_planes; i++) {
buf.m.planes[i].m.userptr = (unsigned long)
dev->buffers[index].mem[i];
buf.m.planes[i].length =
dev->buffers[index].size[i];
}
} else {
buf.m.userptr = (unsigned long)dev->buffers[index].mem[0];
buf.length = dev->buffers[index].size[0];
}
}
for (i = 0; i < dev->num_planes; i++) {
if (video_is_output(dev)) {
if (video_is_mplane(dev))
buf.m.planes[i].bytesused = dev->patternsize[i];
else
buf.bytesused = dev->patternsize[i];
memcpy(dev->buffers[buf.index].mem[i], dev->pattern[i],
dev->patternsize[i]);
} else {
if (fill & BUFFER_FILL_FRAME)
memset(dev->buffers[buf.index].mem[i], 0x55,
dev->buffers[index].size[i]);
if (fill & BUFFER_FILL_PADDING)
memset(dev->buffers[buf.index].mem[i] +
dev->buffers[index].size[i],
0x55, dev->buffers[index].padding[i]);
}
}
ret = ioctl(dev->fd, VIDIOC_QBUF, &buf);
if (ret < 0)
printf("Unable to queue buffer: %s (%d).\n",
strerror(errno), errno);
return ret;
}
static int video_enable(struct device *dev, int enable)
{
int type = dev->type;
int ret;
ret = ioctl(dev->fd, enable ? VIDIOC_STREAMON : VIDIOC_STREAMOFF, &type);
if (ret < 0) {
printf("Unable to %s streaming: %s (%d).\n",
enable ? "start" : "stop", strerror(errno), errno);
return ret;
}
return 0;
}
static void video_query_menu(struct device *dev, struct v4l2_queryctrl *query,
unsigned int value)
{
struct v4l2_querymenu menu;
int ret;
for (menu.index = query->minimum;
menu.index <= (unsigned)query->maximum; menu.index++) {
menu.id = query->id;
ret = ioctl(dev->fd, VIDIOC_QUERYMENU, &menu);
if (ret < 0)
continue;
if (query->type == V4L2_CTRL_TYPE_MENU)
printf(" %u: %.32s%s\n", menu.index, menu.name,
menu.index == value ? " (*)" : "");
else
printf(" %u: %lld%s\n", menu.index, menu.value,
menu.index == value ? " (*)" : "");
};
}
static int video_print_control(struct device *dev, unsigned int id, bool full)
{
struct v4l2_ext_control ctrl;
struct v4l2_queryctrl query;
char sval[24];
char *current = sval;
int ret;
ret = query_control(dev, id, &query);
if (ret < 0)
return ret;
if (query.flags & V4L2_CTRL_FLAG_DISABLED)
return query.id;
if (query.type == V4L2_CTRL_TYPE_CTRL_CLASS) {
printf("--- %s (class 0x%08x) ---\n", query.name, query.id);
return query.id;
}
ret = get_control(dev, &query, &ctrl);
if (ret < 0)
strcpy(sval, "n/a");
else if (query.type == V4L2_CTRL_TYPE_INTEGER64)
sprintf(sval, "%lld", ctrl.value64);
else if (query.type == V4L2_CTRL_TYPE_STRING)
current = ctrl.string;
else
sprintf(sval, "%d", ctrl.value);
if (full)
printf("control 0x%08x `%s' min %d max %d step %d default %d current %s.\n",
query.id, query.name, query.minimum, query.maximum,
query.step, query.default_value, current);
else
printf("control 0x%08x current %s.\n", query.id, current);
if (query.type == V4L2_CTRL_TYPE_STRING)
free(ctrl.string);
if (!full)
return query.id;
if (query.type == V4L2_CTRL_TYPE_MENU ||
query.type == V4L2_CTRL_TYPE_INTEGER_MENU)
video_query_menu(dev, &query, ctrl.value);
return query.id;
}
static void video_list_controls(struct device *dev)
{
unsigned int nctrls = 0;
unsigned int id;
int ret;
#ifndef V4L2_CTRL_FLAG_NEXT_CTRL
unsigned int i;
for (i = V4L2_CID_BASE; i <= V4L2_CID_LASTP1; ++i) {
id = i;
#else
id = 0;
while (1) {
id |= V4L2_CTRL_FLAG_NEXT_CTRL;
#endif
ret = video_print_control(dev, id, true);
if (ret < 0)
break;
id = ret;
nctrls++;
}
if (nctrls)
printf("%u control%s found.\n", nctrls, nctrls > 1 ? "s" : "");
else
printf("No control found.\n");
}
static void video_enum_frame_intervals(struct device *dev, __u32 pixelformat,
unsigned int width, unsigned int height)
{
struct v4l2_frmivalenum ival;
unsigned int i;
int ret;
for (i = 0; ; ++i) {
memset(&ival, 0, sizeof ival);
ival.index = i;
ival.pixel_format = pixelformat;
ival.width = width;
ival.height = height;
ret = ioctl(dev->fd, VIDIOC_ENUM_FRAMEINTERVALS, &ival);
if (ret < 0)
break;
if (i != ival.index)
printf("Warning: driver returned wrong ival index "
"%u.\n", ival.index);
if (pixelformat != ival.pixel_format)
printf("Warning: driver returned wrong ival pixel "
"format %08x.\n", ival.pixel_format);
if (width != ival.width)
printf("Warning: driver returned wrong ival width "
"%u.\n", ival.width);
if (height != ival.height)
printf("Warning: driver returned wrong ival height "
"%u.\n", ival.height);
if (i != 0)
printf(", ");
switch (ival.type) {
case V4L2_FRMIVAL_TYPE_DISCRETE:
printf("%u/%u",
ival.discrete.numerator,
ival.discrete.denominator);
break;
case V4L2_FRMIVAL_TYPE_CONTINUOUS:
printf("%u/%u - %u/%u",
ival.stepwise.min.numerator,
ival.stepwise.min.denominator,
ival.stepwise.max.numerator,
ival.stepwise.max.denominator);
return;
case V4L2_FRMIVAL_TYPE_STEPWISE:
printf("%u/%u - %u/%u (by %u/%u)",
ival.stepwise.min.numerator,
ival.stepwise.min.denominator,
ival.stepwise.max.numerator,
ival.stepwise.max.denominator,
ival.stepwise.step.numerator,
ival.stepwise.step.denominator);
return;
default:
break;
}
}
}
static void video_enum_frame_sizes(struct device *dev, __u32 pixelformat)
{
struct v4l2_frmsizeenum frame;
unsigned int i;
int ret;
for (i = 0; ; ++i) {
memset(&frame, 0, sizeof frame);
frame.index = i;
frame.pixel_format = pixelformat;
ret = ioctl(dev->fd, VIDIOC_ENUM_FRAMESIZES, &frame);
if (ret < 0)
break;
if (i != frame.index)
printf("Warning: driver returned wrong frame index "
"%u.\n", frame.index);
if (pixelformat != frame.pixel_format)
printf("Warning: driver returned wrong frame pixel "
"format %08x.\n", frame.pixel_format);
switch (frame.type) {
case V4L2_FRMSIZE_TYPE_DISCRETE:
printf("\tFrame size: %ux%u (", frame.discrete.width,
frame.discrete.height);
video_enum_frame_intervals(dev, frame.pixel_format,
frame.discrete.width, frame.discrete.height);
printf(")\n");
break;
case V4L2_FRMSIZE_TYPE_CONTINUOUS:
printf("\tFrame size: %ux%u - %ux%u (",
frame.stepwise.min_width,
frame.stepwise.min_height,
frame.stepwise.max_width,
frame.stepwise.max_height);
video_enum_frame_intervals(dev, frame.pixel_format,
frame.stepwise.max_width,
frame.stepwise.max_height);
printf(")\n");
break;
case V4L2_FRMSIZE_TYPE_STEPWISE:
printf("\tFrame size: %ux%u - %ux%u (by %ux%u) (\n",
frame.stepwise.min_width,
frame.stepwise.min_height,
frame.stepwise.max_width,
frame.stepwise.max_height,
frame.stepwise.step_width,
frame.stepwise.step_height);
video_enum_frame_intervals(dev, frame.pixel_format,
frame.stepwise.max_width,
frame.stepwise.max_height);
printf(")\n");
break;
default:
break;
}
}
}
static void video_enum_formats(struct device *dev, enum v4l2_buf_type type)
{
struct v4l2_fmtdesc fmt;
unsigned int i;
int ret;
for (i = 0; ; ++i) {
memset(&fmt, 0, sizeof fmt);
fmt.index = i;
fmt.type = type;
ret = ioctl(dev->fd, VIDIOC_ENUM_FMT, &fmt);
if (ret < 0)
break;
if (i != fmt.index)
printf("Warning: driver returned wrong format index "
"%u.\n", fmt.index);
if (type != fmt.type)
printf("Warning: driver returned wrong format type "
"%u.\n", fmt.type);
printf("\tFormat %u: %s (%08x)\n", i,
v4l2_format_name(fmt.pixelformat), fmt.pixelformat);
printf("\tType: %s (%u)\n", v4l2_buf_type_name(fmt.type),
fmt.type);
printf("\tName: %.32s\n", fmt.description);
video_enum_frame_sizes(dev, fmt.pixelformat);
printf("\n");
}
}
static void video_enum_inputs(struct device *dev)
{
struct v4l2_input input;
unsigned int i;
int ret;
for (i = 0; ; ++i) {
memset(&input, 0, sizeof input);
input.index = i;
ret = ioctl(dev->fd, VIDIOC_ENUMINPUT, &input);
if (ret < 0)
break;
if (i != input.index)
printf("Warning: driver returned wrong input index "
"%u.\n", input.index);
printf("\tInput %u: %s.\n", i, input.name);
}
printf("\n");
}
static int video_get_input(struct device *dev)
{
__u32 input;
int ret;
ret = ioctl(dev->fd, VIDIOC_G_INPUT, &input);
if (ret < 0) {
printf("Unable to get current input: %s (%d).\n",
strerror(errno), errno);
return ret;
}
return input;
}
static int video_set_input(struct device *dev, unsigned int input)
{
__u32 _input = input;
int ret;
ret = ioctl(dev->fd, VIDIOC_S_INPUT, &_input);
if (ret < 0)
printf("Unable to select input %u: %s (%d).\n", input,
strerror(errno), errno);
return ret;
}
static int video_set_quality(struct device *dev, unsigned int quality)
{
struct v4l2_jpegcompression jpeg;
int ret;
if (quality == (unsigned int)-1)
return 0;
memset(&jpeg, 0, sizeof jpeg);
jpeg.quality = quality;
ret = ioctl(dev->fd, VIDIOC_S_JPEGCOMP, &jpeg);
if (ret < 0) {
printf("Unable to set quality to %u: %s (%d).\n", quality,
strerror(errno), errno);
return ret;
}
ret = ioctl(dev->fd, VIDIOC_G_JPEGCOMP, &jpeg);
if (ret >= 0)
printf("Quality set to %u\n", jpeg.quality);
return 0;
}
static int video_load_test_pattern(struct device *dev, const char *filename)
{
unsigned int plane;
unsigned int size;
int fd = -1;
int ret;
if (filename != NULL) {
fd = open(filename, O_RDONLY);
if (fd == -1) {
printf("Unable to open test pattern file '%s': %s (%d).\n",
filename, strerror(errno), errno);
return -errno;
}
}
/* Load or generate the test pattern */
for (plane = 0; plane < dev->num_planes; plane++) {
size = dev->buffers[0].size[plane];
dev->pattern[plane] = malloc(size);
if (dev->pattern[plane] == NULL) {
ret = -ENOMEM;
goto done;
}
if (filename != NULL) {
ret = read(fd, dev->pattern[plane], size);
if (ret != (int)size && dev->plane_fmt[plane].bytesperline != 0) {
printf("Test pattern file size %u doesn't match image size %u\n",
ret, size);
ret = -EINVAL;
goto done;
}
} else {
uint8_t *data = dev->pattern[plane];
unsigned int i;
if (dev->plane_fmt[plane].bytesperline == 0) {
printf("Compressed format detected for plane %u and no test pattern filename given.\n"
"The test pattern can't be generated automatically.\n", plane);
ret = -EINVAL;
goto done;
}
for (i = 0; i < dev->plane_fmt[plane].sizeimage; ++i)
*data++ = i;
}
dev->patternsize[plane] = size;
}
ret = 0;
done:
if (fd != -1)
close(fd);
return ret;
}
static int video_prepare_capture(struct device *dev, int nbufs, unsigned int offset,
const char *filename, enum buffer_fill_mode fill)
{
unsigned int padding;
int ret;
/* Allocate and map buffers. */
padding = (fill & BUFFER_FILL_PADDING) ? 4096 : 0;
if ((ret = video_alloc_buffers(dev, nbufs, offset, padding)) < 0)
return ret;
if (video_is_output(dev)) {
ret = video_load_test_pattern(dev, filename);
if (ret < 0)
return ret;
}
return 0;
}
static int video_queue_all_buffers(struct device *dev, enum buffer_fill_mode fill)
{
unsigned int i;
int ret;
/* Queue the buffers. */
for (i = 0; i < dev->nbufs; ++i) {
ret = video_queue_buffer(dev, i, fill);
if (ret < 0)
return ret;
}
return 0;
}
static void video_verify_buffer(struct device *dev, struct v4l2_buffer *buf)
{
struct buffer *buffer = &dev->buffers[buf->index];
unsigned int plane;
unsigned int i;
for (plane = 0; plane < dev->num_planes; ++plane) {
const uint8_t *data = buffer->mem[plane] + buffer->size[plane];
unsigned int errors = 0;
unsigned int dirty = 0;
unsigned int length;
if (video_is_mplane(dev))
length = buf->m.planes[plane].bytesused;
else
length = buf->bytesused;
if (dev->plane_fmt[plane].sizeimage &&
dev->plane_fmt[plane].sizeimage != length)
printf("Warning: bytes used %u != image size %u for plane %u\n",
length, dev->plane_fmt[plane].sizeimage, plane);
if (buffer->padding[plane] == 0)
continue;
for (i = 0; i < buffer->padding[plane]; ++i) {
if (data[i] != 0x55) {
errors++;
dirty = i + 1;
}
}
if (errors) {
printf("Warning: %u bytes overwritten among %u first padding bytes for plane %u\n",
errors, dirty, plane);
dirty = (dirty + 15) & ~15;
dirty = dirty > 32 ? 32 : dirty;
for (i = 0; i < dirty; ++i) {
printf("%02x ", data[i]);
if (i % 16 == 15)
printf("\n");
}
}
}
}
static void video_save_image(struct device *dev, struct v4l2_buffer *buf,
const char *pattern, unsigned int sequence)
{
unsigned int size;
unsigned int i;
char *filename;
const char *p;
bool append;
int ret = 0;
int fd;
size = strlen(pattern);
filename = malloc(size + 12);
if (filename == NULL)
return;
p = strchr(pattern, '#');
if (p != NULL) {
sprintf(filename, "%.*s%06u%s", (int)(p - pattern), pattern,
sequence, p + 1);
append = false;
} else {
strcpy(filename, pattern);
append = true;
}
fd = open(filename, O_CREAT | O_WRONLY | (append ? O_APPEND : O_TRUNC),
S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH | S_IWOTH);
free(filename);
if (fd == -1)
return;
for (i = 0; i < dev->num_planes; i++) {
void *data = dev->buffers[buf->index].mem[i];
unsigned int length;
if (video_is_mplane(dev)) {
length = buf->m.planes[i].bytesused;
if (!dev->write_data_prefix) {
data += buf->m.planes[i].data_offset;
length -= buf->m.planes[i].data_offset;
}
} else {
length = buf->bytesused;
}
ret = write(fd, data, length);
if (ret < 0) {
printf("write error: %s (%d)\n", strerror(errno), errno);
break;
} else if (ret != (int)length)
printf("write error: only %d bytes written instead of %u\n",
ret, length);
}
close(fd);
}
unsigned int video_buffer_bytes_used(struct device *dev, struct v4l2_buffer *buf)
{
unsigned int bytesused = 0;
unsigned int i;
if (!video_is_mplane(dev))
return buf->bytesused;
for (i = 0; i < dev->num_planes; i++)
bytesused += buf->m.planes[i].bytesused;
return bytesused;
}
static int video_do_capture(struct device *dev, unsigned int nframes,
unsigned int skip, unsigned int delay, const char *pattern,
int do_requeue_last, int do_queue_late, enum buffer_fill_mode fill)
{
struct v4l2_plane planes[VIDEO_MAX_PLANES];
struct v4l2_buffer buf;
struct timespec start;
struct timeval last;
struct timespec ts;
unsigned int size;
unsigned int i;
double bps;
double fps;
int ret;
/* Start streaming. */
ret = video_enable(dev, 1);
if (ret < 0)
goto done;
if (do_queue_late)
video_queue_all_buffers(dev, fill);
size = 0;
clock_gettime(CLOCK_MONOTONIC, &start);
last.tv_sec = start.tv_sec;
last.tv_usec = start.tv_nsec / 1000;
for (i = 0; i < nframes; ++i) {
const char *ts_type, *ts_source;
/* Dequeue a buffer. */
memset(&buf, 0, sizeof buf);
memset(planes, 0, sizeof planes);
buf.type = dev->type;
buf.memory = dev->memtype;
buf.length = VIDEO_MAX_PLANES;
buf.m.planes = planes;
ret = ioctl(dev->fd, VIDIOC_DQBUF, &buf);
if (ret < 0) {
if (errno != EIO) {
printf("Unable to dequeue buffer: %s (%d).\n",
strerror(errno), errno);
goto done;
}
buf.type = dev->type;
buf.memory = dev->memtype;
if (dev->memtype == V4L2_MEMORY_USERPTR)
video_buffer_fill_userptr(dev, &dev->buffers[i], &buf);
}
if (video_is_capture(dev))
video_verify_buffer(dev, &buf);
size += buf.bytesused;
fps = (buf.timestamp.tv_sec - last.tv_sec) * 1000000
+ buf.timestamp.tv_usec - last.tv_usec;
fps = fps ? 1000000.0 / fps : 0.0;
clock_gettime(CLOCK_MONOTONIC, &ts);
get_ts_flags(buf.flags, &ts_type, &ts_source);
printf("%u (%u) [%c] %s %u %u B %ld.%06ld %ld.%06ld %.3f fps ts %s/%s\n", i, buf.index,
(buf.flags & V4L2_BUF_FLAG_ERROR) ? 'E' : '-',
v4l2_field_name(buf.field),
buf.sequence, video_buffer_bytes_used(dev, &buf),
buf.timestamp.tv_sec, buf.timestamp.tv_usec,
ts.tv_sec, ts.tv_nsec/1000, fps,
ts_type, ts_source);
last = buf.timestamp;
/* Save the image. */
if (video_is_capture(dev) && pattern && !skip)
video_save_image(dev, &buf, pattern, i);
if (skip)
--skip;
/* Requeue the buffer. */
if (delay > 0)
usleep(delay * 1000);
fflush(stdout);
if (i == nframes - dev->nbufs && !do_requeue_last)
continue;
ret = video_queue_buffer(dev, buf.index, fill);
if (ret < 0) {
printf("Unable to requeue buffer: %s (%d).\n",
strerror(errno), errno);
goto done;
}
}
/* Stop streaming. */
video_enable(dev, 0);
if (nframes == 0) {
printf("No frames captured.\n");
goto done;
}
if (ts.tv_sec == start.tv_sec && ts.tv_nsec == start.tv_nsec)
goto done;
ts.tv_sec -= start.tv_sec;
ts.tv_nsec -= start.tv_nsec;
if (ts.tv_nsec < 0) {
ts.tv_sec--;
ts.tv_nsec += 1000000000;
}
bps = size/(ts.tv_nsec/1000.0+1000000.0*ts.tv_sec)*1000000.0;
fps = i/(ts.tv_nsec/1000.0+1000000.0*ts.tv_sec)*1000000.0;
printf("Captured %u frames in %lu.%06lu seconds (%f fps, %f B/s).\n",
i, ts.tv_sec, ts.tv_nsec/1000, fps, bps);
done:
return video_free_buffers(dev);
}
#define V4L_BUFFERS_DEFAULT 8
#define V4L_BUFFERS_MAX 32
static void usage(const char *argv0)
{
printf("Usage: %s [options] device\n", argv0);
printf("Supported options:\n");
printf("-B, --buffer-type Buffer type (\"capture\", \"output\",\n");
printf(" \"capture-mplane\" or \"output-mplane\")\n");
printf("-c, --capture[=nframes] Capture frames\n");
printf("-C, --check-overrun Verify dequeued frames for buffer overrun\n");
printf("-d, --delay Delay (in ms) before requeuing buffers\n");
printf("-f, --format format Set the video format\n");
printf("-F, --file[=name] Read/write frames from/to disk\n");
printf("\tFor video capture devices, the first '#' character in the file name is\n");
printf("\texpanded to the frame sequence number. The default file name is\n");
printf("\t'frame-#.bin'.\n");
printf("-h, --help Show this help screen\n");
printf("-i, --input input Select the video input\n");
printf("-I, --fill-frames Fill frames with check pattern before queuing them\n");
printf("-l, --list-controls List available controls\n");
printf("-n, --nbufs n Set the number of video buffers\n");
printf("-p, --pause Pause before starting the video stream\n");
printf("-q, --quality n MJPEG quality (0-100)\n");
printf("-r, --get-control ctrl Get control 'ctrl'\n");
printf("-R, --realtime=[priority] Enable realtime RR scheduling\n");
printf("-s, --size WxH Set the frame size\n");
printf("-t, --time-per-frame num/denom Set the time per frame (eg. 1/25 = 25 fps)\n");
printf("-u, --userptr Use the user pointers streaming method\n");
printf("-w, --set-control 'ctrl value' Set control 'ctrl' to 'value'\n");
printf(" --buffer-prefix Write portions of buffer before data_offset\n");
printf(" --buffer-size Buffer size in bytes\n");
printf(" --enum-formats Enumerate formats\n");
printf(" --enum-inputs Enumerate inputs\n");
printf(" --fd Use a numeric file descriptor insted of a device\n");
printf(" --field Interlaced format field order\n");
printf(" --log-status Log device status\n");
printf(" --no-query Don't query capabilities on open\n");
printf(" --offset User pointer buffer offset from page start\n");
printf(" --premultiplied Color components are premultiplied by alpha value\n");
printf(" --queue-late Queue buffers after streamon, not before\n");
printf(" --requeue-last Requeue the last buffers before streamoff\n");
printf(" --timestamp-source Set timestamp source on output buffers [eof, soe]\n");
printf(" --skip n Skip the first n frames\n");
printf(" --sleep-forever Sleep forever after configuring the device\n");
printf(" --stride value Line stride in bytes\n");
}
#define OPT_ENUM_FORMATS 256
#define OPT_ENUM_INPUTS 257
#define OPT_SKIP_FRAMES 258
#define OPT_NO_QUERY 259
#define OPT_SLEEP_FOREVER 260
#define OPT_USERPTR_OFFSET 261
#define OPT_REQUEUE_LAST 262
#define OPT_STRIDE 263
#define OPT_FD 264
#define OPT_TSTAMP_SRC 265
#define OPT_FIELD 266
#define OPT_LOG_STATUS 267
#define OPT_BUFFER_SIZE 268
#define OPT_PREMULTIPLIED 269
#define OPT_QUEUE_LATE 270
#define OPT_DATA_PREFIX 271
static struct option opts[] = {
{"buffer-size", 1, 0, OPT_BUFFER_SIZE},
{"buffer-type", 1, 0, 'B'},
{"capture", 2, 0, 'c'},
{"check-overrun", 0, 0, 'C'},
{"data-prefix", 0, 0, OPT_DATA_PREFIX},
{"delay", 1, 0, 'd'},
{"enum-formats", 0, 0, OPT_ENUM_FORMATS},
{"enum-inputs", 0, 0, OPT_ENUM_INPUTS},
{"fd", 1, 0, OPT_FD},
{"field", 1, 0, OPT_FIELD},
{"file", 2, 0, 'F'},
{"fill-frames", 0, 0, 'I'},
{"format", 1, 0, 'f'},
{"help", 0, 0, 'h'},
{"input", 1, 0, 'i'},
{"list-controls", 0, 0, 'l'},
{"log-status", 0, 0, OPT_LOG_STATUS},
{"nbufs", 1, 0, 'n'},
{"no-query", 0, 0, OPT_NO_QUERY},
{"offset", 1, 0, OPT_USERPTR_OFFSET},
{"pause", 0, 0, 'p'},
{"premultiplied", 0, 0, OPT_PREMULTIPLIED},
{"quality", 1, 0, 'q'},
{"queue-late", 0, 0, OPT_QUEUE_LATE},
{"get-control", 1, 0, 'r'},
{"requeue-last", 0, 0, OPT_REQUEUE_LAST},
{"realtime", 2, 0, 'R'},
{"size", 1, 0, 's'},
{"set-control", 1, 0, 'w'},
{"skip", 1, 0, OPT_SKIP_FRAMES},
{"sleep-forever", 0, 0, OPT_SLEEP_FOREVER},
{"stride", 1, 0, OPT_STRIDE},
{"time-per-frame", 1, 0, 't'},
{"timestamp-source", 1, 0, OPT_TSTAMP_SRC},
{"userptr", 0, 0, 'u'},
{0, 0, 0, 0}
};
int main(int argc, char *argv[])
{
struct sched_param sched;
struct device dev;
int ret;
/* Options parsings */
const struct v4l2_format_info *info;
/* Use video capture by default if query isn't done. */
unsigned int capabilities = V4L2_CAP_VIDEO_CAPTURE;
int do_file = 0, do_capture = 0, do_pause = 0;
int do_set_time_per_frame = 0;
int do_enum_formats = 0, do_set_format = 0;
int do_enum_inputs = 0, do_set_input = 0;
int do_list_controls = 0, do_get_control = 0, do_set_control = 0;
int do_sleep_forever = 0, do_requeue_last = 0;
int do_rt = 0, do_log_status = 0;
int no_query = 0, do_queue_late = 0;
char *endptr;
int c;
/* Controls */
int ctrl_name = 0;
int ctrl_value = 0;
/* Video buffers */
enum v4l2_memory memtype = V4L2_MEMORY_MMAP;
unsigned int pixelformat = V4L2_PIX_FMT_YUYV;
unsigned int fmt_flags = 0;
unsigned int width = 640;
unsigned int height = 480;
unsigned int stride = 0;
unsigned int buffer_size = 0;
unsigned int nbufs = V4L_BUFFERS_DEFAULT;
unsigned int input = 0;
unsigned int skip = 0;
unsigned int quality = (unsigned int)-1;
unsigned int userptr_offset = 0;
struct v4l2_fract time_per_frame = {1, 25};
enum v4l2_field field = V4L2_FIELD_ANY;
/* Capture loop */
enum buffer_fill_mode fill_mode = BUFFER_FILL_NONE;
unsigned int delay = 0, nframes = (unsigned int)-1;
const char *filename = "frame-#.bin";
unsigned int rt_priority = 1;
video_init(&dev);
opterr = 0;
while ((c = getopt_long(argc, argv, "B:c::Cd:f:F::hi:Iln:pq:r:R::s:t:uw:", opts, NULL)) != -1) {
switch (c) {
case 'B':
ret = v4l2_buf_type_from_string(optarg);
if (ret == -1) {
printf("Bad buffer type \"%s\"\n", optarg);
return 1;
}
video_set_buf_type(&dev, ret);
break;
case 'c':
do_capture = 1;
if (optarg)
nframes = atoi(optarg);
break;
case 'C':
fill_mode |= BUFFER_FILL_PADDING;
break;
case 'd':
delay = atoi(optarg);
break;
case 'f':
do_set_format = 1;
info = v4l2_format_by_name(optarg);
if (info == NULL) {
printf("Unsupported video format '%s'\n", optarg);
return 1;
}
pixelformat = info->fourcc;
break;
case 'F':
do_file = 1;
if (optarg)
filename = optarg;
break;
case 'h':
usage(argv[0]);
return 0;
case 'i':
do_set_input = 1;
input = atoi(optarg);
break;
case 'I':
fill_mode |= BUFFER_FILL_FRAME;
break;
case 'l':
do_list_controls = 1;
break;
case 'n':
nbufs = atoi(optarg);
if (nbufs > V4L_BUFFERS_MAX)
nbufs = V4L_BUFFERS_MAX;
break;
case 'p':
do_pause = 1;
break;
case 'q':
quality = atoi(optarg);
break;
case 'r':
ctrl_name = strtol(optarg, &endptr, 0);
if (*endptr != 0) {
printf("Invalid control name '%s'\n", optarg);
return 1;
}
do_get_control = 1;
break;
case 'R':
do_rt = 1;
if (optarg)
rt_priority = atoi(optarg);
break;
case 's':
do_set_format = 1;
width = strtol(optarg, &endptr, 10);
if (*endptr != 'x' || endptr == optarg) {
printf("Invalid size '%s'\n", optarg);
return 1;
}
height = strtol(endptr + 1, &endptr, 10);
if (*endptr != 0) {
printf("Invalid size '%s'\n", optarg);
return 1;
}
break;
case 't':
do_set_time_per_frame = 1;
time_per_frame.numerator = strtol(optarg, &endptr, 10);
if (*endptr != '/' || endptr == optarg) {
printf("Invalid time per frame '%s'\n", optarg);
return 1;
}
time_per_frame.denominator = strtol(endptr + 1, &endptr, 10);
if (*endptr != 0) {
printf("Invalid time per frame '%s'\n", optarg);
return 1;
}
break;
case 'u':
memtype = V4L2_MEMORY_USERPTR;
break;
case 'w':
ctrl_name = strtol(optarg, &endptr, 0);
if (*endptr != ' ' || endptr == optarg) {
printf("Invalid control name '%s'\n", optarg);
return 1;
}
ctrl_value = strtol(endptr + 1, &endptr, 0);
if (*endptr != 0) {
printf("Invalid control value '%s'\n", optarg);
return 1;
}
do_set_control = 1;
break;
case OPT_BUFFER_SIZE:
buffer_size = atoi(optarg);
break;
case OPT_ENUM_FORMATS:
do_enum_formats = 1;
break;
case OPT_ENUM_INPUTS:
do_enum_inputs = 1;
break;
case OPT_FD:
ret = atoi(optarg);
if (ret < 0) {
printf("Bad file descriptor %d\n", ret);
return 1;
}
printf("Using file descriptor %d\n", ret);
video_set_fd(&dev, ret);
break;
case OPT_FIELD:
field = v4l2_field_from_string(optarg);
if (field == (enum v4l2_field)-1) {
printf("Invalid field order '%s'\n", optarg);
return 1;
}
break;
case OPT_LOG_STATUS:
do_log_status = 1;
break;
case OPT_NO_QUERY:
no_query = 1;
break;
case OPT_PREMULTIPLIED:
fmt_flags |= V4L2_PIX_FMT_FLAG_PREMUL_ALPHA;
break;
case OPT_QUEUE_LATE:
do_queue_late = 1;
break;
case OPT_REQUEUE_LAST:
do_requeue_last = 1;
break;
case OPT_SKIP_FRAMES:
skip = atoi(optarg);
break;
case OPT_SLEEP_FOREVER:
do_sleep_forever = 1;
break;
case OPT_STRIDE:
stride = atoi(optarg);
break;
case OPT_TSTAMP_SRC:
if (!strcmp(optarg, "eof")) {
dev.buffer_output_flags |= V4L2_BUF_FLAG_TSTAMP_SRC_EOF;
} else if (!strcmp(optarg, "soe")) {
dev.buffer_output_flags |= V4L2_BUF_FLAG_TSTAMP_SRC_SOE;
} else {
printf("Invalid timestamp source %s\n", optarg);
return 1;
}
break;
case OPT_USERPTR_OFFSET:
userptr_offset = atoi(optarg);
break;
case OPT_DATA_PREFIX:
dev.write_data_prefix = true;
break;
default:
printf("Invalid option -%c\n", c);
printf("Run %s -h for help.\n", argv[0]);
return 1;
}
}
if ((fill_mode & BUFFER_FILL_PADDING) && memtype != V4L2_MEMORY_USERPTR) {
printf("Buffer overrun can only be checked in USERPTR mode.\n");
return 1;
}
if (!do_file)
filename = NULL;
if (!video_has_fd(&dev)) {
if (optind >= argc) {
usage(argv[0]);
return 1;
}
ret = video_open(&dev, argv[optind]);
if (ret < 0)
return 1;
}
if (!no_query) {
ret = video_querycap(&dev, &capabilities);
if (ret < 0)
return 1;
}
ret = cap_get_buf_type(capabilities);
if (ret < 0)
return 1;
if (!video_has_valid_buf_type(&dev))
video_set_buf_type(&dev, ret);
dev.memtype = memtype;
if (do_log_status)
video_log_status(&dev);
if (do_get_control)
video_print_control(&dev, ctrl_name, false);
if (do_set_control)
set_control(&dev, ctrl_name, ctrl_value);
if (do_list_controls)
video_list_controls(&dev);
if (do_enum_formats) {
printf("- Available formats:\n");
video_enum_formats(&dev, V4L2_BUF_TYPE_VIDEO_CAPTURE);
video_enum_formats(&dev, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE);
video_enum_formats(&dev, V4L2_BUF_TYPE_VIDEO_OUTPUT);
video_enum_formats(&dev, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE);
video_enum_formats(&dev, V4L2_BUF_TYPE_VIDEO_OVERLAY);
}
if (do_enum_inputs) {
printf("- Available inputs:\n");
video_enum_inputs(&dev);
}
if (do_set_input) {
video_set_input(&dev, input);
ret = video_get_input(&dev);
printf("Input %d selected\n", ret);
}
/* Set the video format. */
if (do_set_format) {
if (video_set_format(&dev, width, height, pixelformat, stride,
buffer_size, field, fmt_flags) < 0) {
video_close(&dev);
return 1;
}
}
if (!no_query || do_capture)
video_get_format(&dev);
/* Set the frame rate. */
if (do_set_time_per_frame) {
if (video_set_framerate(&dev, &time_per_frame) < 0) {
video_close(&dev);
return 1;
}
}
while (do_sleep_forever)
sleep(1000);
if (!do_capture) {
video_close(&dev);
return 0;
}
/* Set the compression quality. */
if (video_set_quality(&dev, quality) < 0) {
video_close(&dev);
return 1;
}
if (video_prepare_capture(&dev, nbufs, userptr_offset, filename, fill_mode)) {
video_close(&dev);
return 1;
}
if (!do_queue_late && video_queue_all_buffers(&dev, fill_mode)) {
video_close(&dev);
return 1;
}
if (do_pause) {
printf("Press enter to start capture\n");
getchar();
}
if (do_rt) {
memset(&sched, 0, sizeof sched);
sched.sched_priority = rt_priority;
ret = sched_setscheduler(0, SCHED_RR, &sched);
if (ret < 0)
printf("Failed to select RR scheduler: %s (%d)\n",
strerror(errno), errno);
}
if (video_do_capture(&dev, nframes, skip, delay, filename,
do_requeue_last, do_queue_late, fill_mode) < 0) {
video_close(&dev);
return 1;
}
video_close(&dev);
return 0;
}