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linux v4l2 api
抽空做了个集成v4l2api， 实力有限， 有粗糙的地方还望不吝赐教 ^_^
v4l2_lib.h
/* This driver provid v4l2 API
*
* (You can use this driver as abouve steps)
*
*
*
* STEP ONE: define value
*
*
* step 1.1: define the pointer of your device's name
* demo : static char *my_device = "/dev/video4";
*
* step 1.2: define file descriptor of your device
* demo : static int my_file_descriptor = -1;
*
* step 1.3: define ther buffer pointer of your buffers
* demo : struct buffer *my_buffers;
*
*
*
* STEP TWO: call api function
*
* step 2.1: open the device by fun : open_device(my_device, &my_file_descriptor);
*
* step 2.2: init the device by fun : init_device(my_device, my_file_descriptor, my_buffers);
*
* step 2.3: start the device to capturing by fun : start_capturing(my_file_descriptor, my_buffers);
*
* step 2.4: call your process fun that hase be defined
* you can grab a frame in your fun by call the fun : read_frame(my_file_descriptor, my_buffers)
* and rewrite the fun process_image() in driver.c to implement your attention
*
* step 2.5: stop the device's capture by fun : stop_capturing(my_file_descriptor);
*
* step 2.6: uninit the device by fun : uninit_device(my_buffers);
*
* step 2.7: close the device bu fun : close_device(my_file_descriptor);
*
*
*
* FOR MORE CONFIGURATION CAN BE CONFIG BY UPDATE THE BELOW DEFINES
*
* METALSEED_TAG whether print log
*
* FRAME_QUEUE_LENGTH (the value of frame queue's length)
*
* V4L2_IO_METHOD (frame date exchange method)
*
* V4L2_FORCE_FORMAT (about format set : as bellow parameter)
*
* V4L2_FORCE_FORMAT_WIDTH
*
* V4L2_FORCE_FORMAT_HIGHT
*
* V4L2_FORCE_FORMAT_PIXEL_FORMAT
*
* V4L2_FORCE_FORMAT_FIELD
*
*/
/* -----------demo-----------
int main(int argc, char **argv)
{
static char *dev_eye1 = "/dev/video4";
static int fd = -1;
struct buffer *buffers;
open_device(dev_eye1, &fd);
init_device(dev_eye1, fd, &buffers);
start_capturing(fd, buffers);
while(1){
if (read_frame(fd, buffers) == 1) break;
}
stop_capturing(fd);
uninit_device(buffers);
close_device(fd);
return 0;
}
*/
#ifndef __V4L2_DEVICE_DRIVER_H__
#define __V4L2_DEVICE_DRIVER_H__
enum io_method {
IO_METHOD_READ,
IO_METHOD_MMAP,
IO_METHOD_USERPTR,
};
struct buffer {
void *start;
size_t length;
};
#define METALSEED_TAG 1 // 1 print log, 0 don't print
#define V4L2_IO_METHOD IO_METHOD_MMAP
#define FRAME_QUEUE_LENGTH 4 //frame queue length
#define V4L2_FORCE_FORMAT 1
#define V4L2_FORCE_FORMAT_WIDTH 1280
#define V4L2_FORCE_FORMAT_HIGHT 960
#define V4L2_FORCE_FORMAT_PIXEL_FORMAT V4L2_PIX_FMT_YUYV
#define V4L2_FORCE_FORMAT_FIELD V4L2_FIELD_INTERLACED
//You can save the frame to file_output by fwrite(frame_pointer, size, 1, file_output);
static void process_image(const void *frame_pointer, int frame_size);
static int read_frame(int file_descriptor, struct buffer *buffers);
static void stop_capturing(int file_descriptor);
static void start_capturing(int file_descriptor, struct buffer *buffers);
static void init_read(struct buffer **buffers, unsigned int buffer_size);
static void init_mmap(char *dev_name, int file_descriptor, struct buffer **buffers);
static void init_userp(struct buffer **buffers, unsigned int buffer_size, char *dev_name, int file_descriptor);
static void init_device(char *dev_name, int file_descriptor, struct buffer **buffers);
static void uninit_device(struct buffer *buffers);
static void open_device(char *dev_name, int *file_descriptor);
static void close_device(int file_descriptor);
#endif //__V4L2_DEVICE_DRIVER_H__
v4l2_lib.c
/*
* V4L2 video capture driver
*
* This program can be used and distributed without restrictions.
*
* This program is provided with the V4L2 API
*
* This program is optimized by MetalSeed(mc.gaofei@gmail.com)
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <getopt.h> /* getopt_long() */
#include <fcntl.h> /* low-level i/o */
#include <unistd.h>
#include <errno.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/mman.h>
#include <sys/ioctl.h>
#include <asm/types.h>
#include <linux/videodev2.h>
#include "v4l2_lib.h"
// #include <malloc.h>
// #include <pthread.h>
#define CLEAR(x) memset(&(x), 0, sizeof(x))
static unsigned int n_buffers;
/*=== set io method ===*/
#ifdef V4L2_IO_METHOD
static enum io_method io = V4L2_IO_METHOD;
#endif
#ifndef V4L2_IO_METHOD
static enum io_method io = IO_METHOD_MMAP;
#endif
/*=== set force format switcher ===*/
#ifdef V4L2_FORCE_FORMAT
static int force_format = V4L2_FORCE_FORMAT;
#endif
#ifndef V4L2_FORCE_FORMAT
static int force_format = 0;
#endif
/*
*
*
*/
static void errno_exit(const char *s)
{
fprintf(stderr, "%s error %d, %s\n", s, errno, strerror(errno));
exit(EXIT_FAILURE);
}
static int xioctl(int fh, int request, void *arg)
{
int r;
do {
r = ioctl(fh, request, arg);
} while (-1 == r && EINTR == errno);
return r;
}
/*
* one operation
* step1 : VIDIOC_STREAMOFF
*/
static void stop_capturing(int fd)
{
enum v4l2_buf_type type;
switch (io) {
case IO_METHOD_READ:
/* Nothing to do. */
break;
case IO_METHOD_MMAP:
case IO_METHOD_USERPTR:
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(fd, VIDIOC_STREAMOFF, &type))
errno_exit("VIDIOC_STREAMOFF");
break;
}
#if(METALSEED_TAG == 1)
{
printf("[ V4L2 CLUE ] : Stop capturing successfully\n");
}
#endif
}
/* tow operations
* step1 : VIDIOC_QBUF(insert buffer to queue)
* step2 : VIDIOC_STREAMOFF
*/
static void start_capturing(int fd, struct buffer *buffers)
{
unsigned int i;
enum v4l2_buf_type type;
switch (io) {
case IO_METHOD_READ:
/* Nothing to do. */
break;
case IO_METHOD_MMAP:
for (i = 0; i < n_buffers; ++i) {
struct v4l2_buffer buf;
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;
if (-1 == xioctl(fd, VIDIOC_QBUF, &buf))
errno_exit("VIDIOC_QBUF");
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(fd, VIDIOC_STREAMON, &type))
errno_exit("VIDIOC_STREAMON");
break;
case IO_METHOD_USERPTR:
for (i = 0; i < n_buffers; ++i) {
struct v4l2_buffer buf;
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_USERPTR;
buf.index = i;
buf.m.userptr = (unsigned long)buffers[i].start;
buf.length = buffers[i].length;
if (-1 == xioctl(fd, VIDIOC_QBUF, &buf))
errno_exit("VIDIOC_QBUF");
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(fd, VIDIOC_STREAMON, &type))
errno_exit("VIDIOC_STREAMON");
break;
}
#if(METALSEED_TAG == 1)
{
printf("[ V4L2 CLUE ] : Start capturing successfully\n");
}
#endif
}
/* two operations
* step1 : munmap buffers
* steo2 : free buffers
*/
static void uninit_device(struct buffer *buffers)
{
unsigned int i;
switch (io) {
case IO_METHOD_READ:
free(buffers[0].start);
break;
case IO_METHOD_MMAP:
for (i = 0; i < n_buffers; ++i)
{
if (-1 == munmap(buffers[i].start, buffers[i].length))
{
errno_exit("munmap");
}
}
break;
case IO_METHOD_USERPTR:
for (i = 0; i < n_buffers; ++i)
free(buffers[i].start);
break;
}
free(buffers);
#if(METALSEED_TAG == 1)
{
printf("[ V4L2 CLUE ] : Uninit device successfully\n");
}
#endif
}
static void init_read(struct buffer **buffers, unsigned int buffer_size)
{
*buffers = calloc(1, sizeof(**buffers));
if (!(*buffers)) {
fprintf(stderr, "Out of memory\n");
exit(EXIT_FAILURE);
}
(*buffers)[0].length = buffer_size;
(*buffers)[0].start = malloc(buffer_size);
if (!(*buffers)[0].start) {
fprintf(stderr, "Out of memory\n");
exit(EXIT_FAILURE);
}
#if(METALSEED_TAG == 1)
{
printf("[ V4L2 CLUE ] : Initialize read successfully\n");
}
#endif
}
static void init_mmap(char *dev_name, int fd, struct buffer **buffers)
{
struct v4l2_requestbuffers req;
CLEAR(req);
req.count = FRAME_QUEUE_LENGTH;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
if (-1 == xioctl(fd, VIDIOC_REQBUFS, &req)) {
if (EINVAL == errno) {
fprintf(stderr, "%s does not support "
"memory mapping\n", dev_name);
exit(EXIT_FAILURE);
} else {
errno_exit("VIDIOC_REQBUFS");
}
}
if (req.count < 2) {
fprintf(stderr, "Insufficient buffer memory on %s\n",
dev_name);
exit(EXIT_FAILURE);
}
*buffers = calloc(req.count, sizeof(**buffers));
if (!(*buffers)) {
fprintf(stderr, "Out of memory\n");
exit(EXIT_FAILURE);
}
for (n_buffers = 0; n_buffers < req.count; ++n_buffers) {
struct v4l2_buffer buf;
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = n_buffers;
if (-1 == xioctl(fd, VIDIOC_QUERYBUF, &buf))
errno_exit("VIDIOC_QUERYBUF");
(*buffers)[n_buffers].length = buf.length;
(*buffers)[n_buffers].start = mmap(NULL /* start anywhere */,
buf.length,
PROT_READ | PROT_WRITE /* required */,
MAP_SHARED /* recommended */,
fd, buf.m.offset);
if (MAP_FAILED == (*buffers)[n_buffers].start)
errno_exit("mmap");
}
#if(METALSEED_TAG == 1)
{
printf("[ V4L2 CLUE ] : Initialize memory mapping successfully\n");
}
#endif
}
static void init_userp(struct buffer **buffers, unsigned int buffer_size, char *dev_name, int fd)
{
struct v4l2_requestbuffers req;
CLEAR(req);
req.count = FRAME_QUEUE_LENGTH;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_USERPTR;
if (-1 == xioctl(fd, VIDIOC_REQBUFS, &req)) {
if (EINVAL == errno) {
fprintf(stderr, "%s does not support "
"user pointer i/o\n", dev_name);
exit(EXIT_FAILURE);
} else {
errno_exit("VIDIOC_REQBUFS");
}
}
*buffers = calloc(FRAME_QUEUE_LENGTH, sizeof(struct buffer));
if (!(*buffers)) {
fprintf(stderr, "Out of memory\n");
exit(EXIT_FAILURE);
}
for (n_buffers = 0; n_buffers < FRAME_QUEUE_LENGTH; ++n_buffers) {
(*buffers)[n_buffers].length = buffer_size;
(*buffers)[n_buffers].start = malloc(buffer_size);
if (!(*buffers)[n_buffers].start) {
fprintf(stderr, "Out of memory\n");
exit(EXIT_FAILURE);
}
}
#if(METALSEED_TAG == 1)
{
printf("[ V4L2 CLUE ] : Initialize user pointer successfully\n");
}
#endif
}
/* six operations
* step1 : cap :query camera's capability and check it(is a video device? is it support read? is it support streaming?)
* step2 : cropcap:set cropcap's type and get cropcap by VIDIOC_CROPCAP
* step3 : set crop parameter by VIDIOC_S_CROP (such as frame type and angle)
* step4 : set image format
* step5 : set stream parameter
* step6 : mmap
*/
static void init_device(char *dev_name, int fd, struct buffer **buffers)
{
struct v4l2_capability cap;
struct v4l2_cropcap cropcap;
struct v4l2_crop crop;
struct v4l2_format fmt;
struct v4l2_streamparm parm;
unsigned int min;
if (-1 == xioctl(fd, VIDIOC_QUERYCAP, &cap)) {
if (EINVAL == errno) {
fprintf(stderr, "%s is no V4L2 device\n",
dev_name);
exit(EXIT_FAILURE);
} else {
errno_exit("VIDIOC_QUERYCAP");
}
}
if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) {
fprintf(stderr, "%s is no video capture device\n",
dev_name);
exit(EXIT_FAILURE);
}
switch (io) {
case IO_METHOD_READ:
if (!(cap.capabilities & V4L2_CAP_READWRITE)) {
fprintf(stderr, "%s does not support read i/o\n",
dev_name);
exit(EXIT_FAILURE);
}
break;
case IO_METHOD_MMAP:
case IO_METHOD_USERPTR:
if (!(cap.capabilities & V4L2_CAP_STREAMING)) {
fprintf(stderr, "%s does not support streaming i/o\n",
dev_name);
exit(EXIT_FAILURE);
}
break;
}
#if(METALSEED_TAG == 1)
{
printf("[ V4L2 CLUE ] : Get %s's capabilities successfully.\n", dev_name);
printf("[ V4L2 CLUE ] : Driver Name : %s\n[ V4L2 CLUE ] : Card Name : %s\n[ V4L2 CLUE ] : Bus info : %s\n[ V4L2 CLUE ] : Driver Version : %u.%u.%u\n",cap.driver, cap.card, cap.bus_info,(cap.version >> 16) & 0XFF, (cap.version >> 8) & 0XFF, cap.version & 0XFF);
}
#endif
/* not all capture support crop */
/* Select video input, video standard and tune here. */
CLEAR(cropcap);
cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
/* if device support cropcap's type then set crop */
if (0 == xioctl(fd, VIDIOC_CROPCAP, &cropcap)) {
crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
crop.c = cropcap.defrect; /* reset to default */
if (-1 == xioctl(fd, VIDIOC_S_CROP, &crop)) {
switch (errno) {
case EINVAL:
/* Cropping not supported. */
break;
default:
/* Errors ignored. */
break;
}
}
} else {
/* Errors ignored. */
}
#if(METALSEED_TAG == 1)
{
printf("[ V4L2 CLUE ] : Set cropcap successfully.\n");
//could add some cropcap log.
}
#endif
#if(METALSEED_TAG == 1)
{
struct v4l2_fmtdesc fmtdesc;
fmtdesc.index = 0;
fmtdesc.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
printf("[ V4L2 CLUE ] : Format that this device supported:\n");
while(ioctl(fd, VIDIOC_ENUM_FMT, &fmtdesc) != -1)
{
printf("[ V4L2 CLUE ] : \t%d.%s\n", fmtdesc.index + 1, fmtdesc.description);
fmtdesc.index++;
}
}
#endif
CLEAR(fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (force_format) {
fmt.fmt.pix.width = V4L2_FORCE_FORMAT_WIDTH;
fmt.fmt.pix.height = V4L2_FORCE_FORMAT_HIGHT;
fmt.fmt.pix.pixelformat = V4L2_FORCE_FORMAT_PIXEL_FORMAT;
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
if (-1 == xioctl(fd, VIDIOC_S_FMT, &fmt))
errno_exit("VIDIOC_S_FMT");
#if(METALSEED_TAG == 1)
{
printf("[ V4L2 CLUE ] : Set format by force successfully.\n");
printf("[ V4L2 CLUE ] : Width = %d\n" , fmt.fmt.pix.width);
printf("[ V4L2 CLUE ] : Height = %d\n" , fmt.fmt.pix.height);
}
#endif
/* Note VIDIOC_S_FMT may change width and height. */
} else {
/* Preserve original settings as set by v4l2-ctl for example */
if (-1 == xioctl(fd, VIDIOC_G_FMT, &fmt))
errno_exit("VIDIOC_G_FMT");
}
/* Buggy driver paranoia. */
min = fmt.fmt.pix.width * 2;
if (fmt.fmt.pix.bytesperline < min)
fmt.fmt.pix.bytesperline = min;
min = fmt.fmt.pix.bytesperline * fmt.fmt.pix.height;
if (fmt.fmt.pix.sizeimage < min)
fmt.fmt.pix.sizeimage = min;
#if(METALSEED_TAG == 1)
{
printf("[ V4L2 CLUE ] : Image size = %d\n" , fmt.fmt.pix.sizeimage);
printf("[ V4L2 CLUE ] : Bytes per line = %d\n" , fmt.fmt.pix.bytesperline);
}
#endif
CLEAR(parm);
parm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
parm.parm.capture.capturemode = 0;
parm.parm.capture.capability = V4L2_CAP_TIMEPERFRAME;
parm.parm.capture.timeperframe.denominator = 30; //鏃堕棿闂撮殧鍒嗘瘝
parm.parm.capture.timeperframe.numerator = 1; //鍒嗗瓙
if(-1 == xioctl(fd, VIDIOC_S_PARM, &parm))
{
errno_exit("VIDIOC_S_PARM");
}
#if(METALSEED_TAG == 1)
{
printf("[ V4L2 CLUE ] : Set stream parameter successfully\n");
printf("[ V4L2 CLUE ] : Stream capability = V4L2_CAP_TIMEPERFRAME\n");
printf("[ V4L2 CLUE ] : Stream timeperframe's donominator = %d\n", parm.parm.capture.timeperframe.denominator);
printf("[ V4L2 CLUE ] : Stream timeperframe's numerator = %d\n", parm.parm.capture.timeperframe.numerator );
}
#endif
switch (io) {
case IO_METHOD_READ:
init_read(buffers, fmt.fmt.pix.sizeimage);
break;
case IO_METHOD_MMAP:
init_mmap(dev_name, fd, buffers);
break;
case IO_METHOD_USERPTR:
init_userp(buffers, fmt.fmt.pix.sizeimage, dev_name, fd);
break;
}
}
/*
* close (fd)
*/
static void close_device(int fd)
{
if (-1 == close(fd))
errno_exit("close");
fd = -1;
#if(METALSEED_TAG == 1)
{
printf("[ V4L2 CLUE ] : Close device successfully\n");
}
#endif
}
/* three operations
* step 1 : check dev_name and st_mode
* step 2 : open(device)
*/
static void open_device(char *dev_name, int *fd)
{
struct stat st;
if (-1 == stat(dev_name, &st)) {
fprintf(stderr, "Cannot identify '%s': %d, %s\n",
dev_name, errno, strerror(errno));
exit(EXIT_FAILURE);
}
if (!S_ISCHR(st.st_mode)) {
fprintf(stderr, "%s is no device\n", dev_name);
exit(EXIT_FAILURE);
}
*fd = open(dev_name, O_RDWR /* required */ | O_NONBLOCK, 0);
if (-1 == *fd) {
fprintf(stderr, "Cannot open '%s': %d, %s\n",
dev_name, errno, strerror(errno));
exit(EXIT_FAILURE);
}
#if(METALSEED_TAG == 1)
{
printf("[ V4L2 CLUE ] : Open %s successfully. fd = %d\n", dev_name, fd);
}
#endif
}
static void process_image(const void *frame_pointer, int size)
{
//fwrite(frame_pointer, size, 1, file_output); save this frame to file_output
puts("An image has been process over!");
#if(METALSEED_TAG == 1)
{
printf("\n[ V4L2 CLUE ] : Process inmage successfully\n");
}
#endif
}
static ctr = 0;
static int read_frame(int fd, struct buffer *buffers)
{
struct v4l2_buffer buf;
unsigned int i;
switch (io) {
case IO_METHOD_READ:
if (-1 == read(fd, buffers[0].start, buffers[0].length)) {
switch (errno) {
case EAGAIN:
return 0;
case EIO:
/* Could ignore EIO, see spec. */
/* fall through */
default:
errno_exit("read");
}
}
process_image(buffers[0].start, buffers[0].length);
break;
case IO_METHOD_MMAP:
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
if (-1 == xioctl(fd, VIDIOC_DQBUF, &buf)) {
switch (errno) {
case EAGAIN:
return 0;
case EIO:
/* Could ignore EIO, see spec. */
/* fall through */
default:
errno_exit("VIDIOC_DQBUF");
}
}
assert(buf.index < n_buffers);
process_image(buffers[buf.index].start, buf.bytesused);
if (-1 == xioctl(fd, VIDIOC_QBUF, &buf))
errno_exit("VIDIOC_QBUF");
break;
case IO_METHOD_USERPTR:
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_USERPTR;
if (-1 == xioctl(fd, VIDIOC_DQBUF, &buf)) {
switch (errno) {
case EAGAIN:
return 0;
case EIO:
/* Could ignore EIO, see spec. */
/* fall through */
default:
errno_exit("VIDIOC_DQBUF");
}
}
for (i = 0; i < n_buffers; ++i)
if (buf.m.userptr == (unsigned long)buffers[i].start
&& buf.length == buffers[i].length)
break;
assert(i < n_buffers);
process_image((void *)buf.m.userptr, buf.bytesused);
if (-1 == xioctl(fd, VIDIOC_QBUF, &buf))
errno_exit("VIDIOC_QBUF");
break;
}
#if(METALSEED_TAG == 1)
{
printf("\n[ V4L2 CLUE ] : Read frame successfully\n");
}
#endif
return 1;
}
linux v4l2 api
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