v4l2io.cpp

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/*
 * Author: Steven Ludtke, 04/10/2003 (sludtke@bcm.edu)
 * Copyright (c) 2000-2006 Baylor College of Medicine
 * 
 * This software is issued under a joint BSD/GNU license. You may use the
 * source code in this file under either license. However, note that the
 * complete EMAN2 and SPARX software packages have some GPL dependencies,
 * so you are responsible for compliance with the licenses of these packages
 * if you opt to use BSD licensing. The warranty disclaimer below holds
 * in either instance.
 * 
 * This complete copyright notice must be included in any revised version of the
 * source code. Additional authorship citations may be added, but existing
 * author citations must be preserved.
 * 
 * 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., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 * 
 * */
 
#ifdef ENABLE_V4L2
#include "v4l2io.h"
#include "geometry.h"
#include "util.h"
#include "portable_fileio.h"
 
#include <climits>
#include <cctype>
#include <sys/ioctl.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
 
using namespace EMAN;
struct v4l2_format v4l2_fmt;    // should be a static member, but doesn't seem to work right
 
static int xioctl (int v4l_file, int request, void *arg)
{
        int r;
 
        do r = ioctl (v4l_file, request, arg);
        while (-1 == r && EINTR == errno);
 
        return r;
}
 
void errno_exit (const char *s)
{
        fprintf (stderr, "%s error %d, %s\n",s, errno, strerror (errno));
        exit (EXIT_FAILURE);
}
 
 
V4L2IO::V4L2IO(const string & fname, IOMode rw)
{
        filename=(char *)malloc(file.length()+1);
        strcpy(filename,file.c_str());
        v4l_file=0;
        nx = 0;
        ny = 0;
        initialized=false;
 
}
 
V4L2IO::~V4L2IO()
{
//      if (v4l_file) {
                //close(v4l_file);
                //v4l_file = 0;
        //}
        if (filename) free(filename);
}
 
void V4L2IO::init() {
        ENTERFUNC;
        static int ginit=-1;
        
        if (ginit==-1) ginit=globalinit(filename,0,90,48,8,200,210); // planets on webcam
//      if (ginit==-1) ginit=globalinit(filename,0,80,48,0,240,220); // good for deep sky on webcam
        //if (ginit==-1) ginit=globalinit(filename,0,12,-1,60);
        v4l_file=ginit;
        
        initialized=true;
 
        EXITFUNC;
}
 
int V4L2IO::globalinit(const char *fsp,int input,int brt,int cont,int gamma,int expos,int gain)
{
        ENTERFUNC;
        
//      v4l_file = open (filename, O_RDWR | O_NONBLOCK, 0);
        int vfile = open (fsp, O_RDWR, 0);
 
        unsigned int min;
        struct v4l2_capability cap;
        struct v4l2_cropcap cropcap;
        struct v4l2_crop crop;
        
        if (-1 == xioctl (vfile, VIDIOC_QUERYCAP, &cap)) {
                        if (EINVAL == errno) {
                                        fprintf (stderr, "%s is not a V4L2 device, try /dev/vbi*\n",fsp);
                                        exit (-1);
                        } else {
                                        errno_exit ("VIDIOC_QUERYCAP");
                        }
        }
        
        printf("driver: %s\ncard %s\n",cap.driver,cap.card);
        
        if (-1 == xioctl (vfile, VIDIOC_S_INPUT, &input)) errno_exit ("VIDIOC_S_INPUT");
        
        int std=V4L2_STD_NTSC_M;
        if (-1 == xioctl (vfile, VIDIOC_S_STD, &std)) printf("Can't set NTSC standard\n");
        
        
        if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) {
                        fprintf (stderr, "%s is not a video capture device\n",fsp);
                        exit (EXIT_FAILURE);
        }
        
        if (!(cap.capabilities & V4L2_CAP_READWRITE)) {
                        fprintf (stderr, "%s does not support read i/o\n",fsp);
                        exit (EXIT_FAILURE);
        }
        
/*      cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        if (-1 == xioctl (vfile, VIDIOC_CROPCAP, &cropcap)) {
                fprintf(stderr,"VIDIOC_CROPCAP failed %d %d %d %d\n",cropcap.bounds.left,cropcap.bounds.top,cropcap.bounds.width,cropcap.bounds.height);
//              exit(EXIT_FAILURE);
        }
        
        crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        crop.c = cropcap.defrect;
        
        if (-1 == xioctl (vfile, VIDIOC_S_CROP, &crop)) {
                        switch (errno) {
                        case EINVAL:
                                        //Cropping not supported.
                                        break;
                        default:
                                        // Errors ignored.
                                        break;
                        }
        }
*/
 
        /*
        printf("Supported formats:\n");
        struct v4l2_fmtdesc fdq;
        fdq.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
        for (int idx=0; idx<100; idx++) {
                fdq.index=idx;
                if (xioctl(vfile,VIDIOC_ENUM_FMT,&fdq)==-1) break;
                printf("%4s %s\n",&fdq.pixelformat,fdq.description);
        }
        */
 
//      memset(&v4l2_fmt,0,sizeof(v4l2_fmt));
        v4l2_fmt.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
        if (-1 == xioctl (vfile, VIDIOC_G_FMT, &v4l2_fmt)) errno_exit ("VIDIOC_G_FMT");
        
        v4l2_fmt.type                = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        v4l2_fmt.fmt.pix.width       = 640; 
        v4l2_fmt.fmt.pix.height      = 480;
//      v4l2_fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_GREY;
        v4l2_fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUV420;
//      v4l2_fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
//      v4l2_fmt.fmt.pix.field       = V4L2_FIELD_NONE;
//      v4l2_fmt.fmt.pix.field       = V4L2_FIELD_INTERLACED;
        
        if (-1 == xioctl (vfile, VIDIOC_S_FMT, &v4l2_fmt)) errno_exit ("VIDIOC_S_FMT");
        
        /* Note VIDIOC_S_FMT may change width and height. */
        
        /* Buggy driver paranoia. */
        min = v4l2_fmt.fmt.pix.width * 2;
        if (v4l2_fmt.fmt.pix.bytesperline < min)
                        v4l2_fmt.fmt.pix.bytesperline = min;
        min = v4l2_fmt.fmt.pix.bytesperline * v4l2_fmt.fmt.pix.height;
        if (v4l2_fmt.fmt.pix.sizeimage < min)
                        v4l2_fmt.fmt.pix.sizeimage = min;
        
        printf("fmt.fmt.pix.width = %d\n",v4l2_fmt.fmt.pix.width);
        printf("fmt.fmt.pix.height = %d\n",v4l2_fmt.fmt.pix.height);
        printf("fmt.fmt.pix.pixelformat = %4s\n",&v4l2_fmt.fmt.pix.pixelformat);
        printf("fmt.fmt.pix.bytesperline = %d\n",v4l2_fmt.fmt.pix.bytesperline);
        printf("fmt.fmt.pix.sizeimage = %d\n",v4l2_fmt.fmt.pix.sizeimage);
//      printf("fmt.fmt.pix.field = %d\n",v4l2_fmt.fmt.pix.field); 
        
        struct v4l2_queryctrl qc;
        struct v4l2_control con;
 
        qc.id=V4L2_CID_BRIGHTNESS;
        ioctl(vfile,VIDIOC_QUERYCTRL,&qc);
        printf("brightness = %d - %d by %d %d\n",qc.minimum,qc.maximum,qc.step,qc.default_value);
 
        qc.id=V4L2_CID_CONTRAST;
        ioctl(vfile,VIDIOC_QUERYCTRL,&qc);
        printf("contrast = %d - %d by %d %d\n",qc.minimum,qc.maximum,qc.step,qc.default_value);
 
        qc.id=V4L2_CID_GAMMA;
        ioctl(vfile,VIDIOC_QUERYCTRL,&qc);
        printf("gamma = %d - %d by %d %d\n",qc.minimum,qc.maximum,qc.step,qc.default_value);
 
        qc.id=V4L2_CID_EXPOSURE;
        ioctl(vfile,VIDIOC_QUERYCTRL,&qc);
        printf("exposure = %d - %d by %d %d\n",qc.minimum,qc.maximum,qc.step,qc.default_value);
 
        qc.id=V4L2_CID_GAIN;
        ioctl(vfile,VIDIOC_QUERYCTRL,&qc);
        printf("gain = %d - %d by %d %d\n",qc.minimum,qc.maximum,qc.step,qc.default_value);
 
        con.id=V4L2_CID_AUTOGAIN;
        con.value=0;
        ioctl(vfile,VIDIOC_S_CTRL,&con);
        
        if (brt!=-1) {
        con.id=V4L2_CID_BRIGHTNESS;
        con.value=brt;
        ioctl(vfile,VIDIOC_S_CTRL,&con);
        }
 
        if (cont!=-1) {
        con.id=V4L2_CID_CONTRAST;
        con.value=cont;
        ioctl(vfile,VIDIOC_S_CTRL,&con);
        }
 
        if (gamma!=-1) {
        con.id=V4L2_CID_GAMMA;
        con.value=gamma;
        ioctl(vfile,VIDIOC_S_CTRL,&con);
        }
 
        if (expos!=-1) {
        con.id=V4L2_CID_EXPOSURE;
        con.value=expos;
        ioctl(vfile,VIDIOC_S_CTRL,&con);
        }
 
        if (gain!=-1) {
        con.id=V4L2_CID_GAIN;
        con.value=gain;
        ioctl(vfile,VIDIOC_S_CTRL,&con);
        }
 
//      close(vfile);
        EXITFUNC;
        return vfile;
}
 
bool V4L2IO::is_valid(const void *first_block)
{
        ENTERFUNC;
        return true;
}
 
int V4L2IO::read_header(Dict & dict, int image_index, const Region * area, bool)
{
        ENTERFUNC;
        
        if(image_index == -1) {
                image_index = 0;
        }
 
        if(image_index != 0) {
                throw ImageReadException(filename, "no stack allowed for MRC image. For take 2D slice out of 3D image, read the 3D image first, then use get_clip().");
        }
        
        if (!initialized) init();
        
        dict["nx"] = (int)(v4l2_fmt.fmt.pix.width);
        dict["ny"] = (int)(v4l2_fmt.fmt.pix.height);
        dict["nz"] = 1;
                        
        dict["datatype"] = EMUtil::EM_UCHAR;
        
        EXITFUNC;
        return 0;
}
 
int V4L2IO::write_header(const Dict & dict, int image_index, const Region*,
                                                EMUtil::EMDataType, bool)
{
        ENTERFUNC;      
        LOGWARN("V4L write is not supported.");
        EXITFUNC;
        return 1;       // No write capability
}
 
int V4L2IO::read_data(float *data, int image_index, const Region * area, bool)
{
        if (!initialized) init();
        
        Region tmp(0,0,v4l2_fmt.fmt.pix.width,v4l2_fmt.fmt.pix.height);
        if (!area) area=&tmp;
        
        int x,y;
        ENTERFUNC;
        unsigned char *dbuf = (unsigned char *)malloc(v4l2_fmt.fmt.pix.sizeimage);
 
        read(v4l_file,dbuf,v4l2_fmt.fmt.pix.sizeimage);
        read(v4l_file,dbuf,v4l2_fmt.fmt.pix.sizeimage);
 
/*      int count=v4l2_fmt.fmt.pix.sizeimage;
        int pos=0;
        while (count) {
                int c=read(v4l_file,dbuf+pos,count);
                printf("# %d\n",c);
                if (c==-1) { printf("ern %d\n",errno); break; }
                count-=c;
                pos+=c;
        }
        
        printf("buf.length=%d  area.x=%d area.y=%d\n",v4l2_fmt.fmt.pix.sizeimage,(int)area->size[0],(int)area->size[1]);
        */
        
        for (y=0; y<area->size[1]; y++) {
                for (x=0; x<area->size[0]; x++) {
// This is for YUYV
//                      data[(int)(area->size[0]*(area->size[1]-y-1)+x)]=dbuf[v4l2_fmt.fmt.pix.bytesperline*y+x*2]/256.0;
// This is for YUV420
//                      data[(int)(area->size[0]*(area->size[1]-y-1)+x)]=dbuf[v4l2_fmt.fmt.pix.bytesperline*y+x]/256.0;
                        data[(int)(area->size[0]*(area->size[1]-y-1)+x)]=dbuf[(int)area->size[0]*y+x]/256.0;
                }
        }
 
//      int sum=0;
//      for (x=0; x<v4l2_fmt.fmt.pix.sizeimage; x++) sum+=dbuf[x];
//      printf("%d\n",sum);
        
        free(dbuf);
        EXITFUNC;
        return 0;
}
 
int V4L2IO::write_data(float *data, int image_index, const Region* ,
                                          EMUtil::EMDataType, bool)
{
        ENTERFUNC;
 
        EXITFUNC;
        return 1;
}
 
void V4L2IO::flush()
{
 
}
 
 
bool V4L2IO::is_complex_mode()
{
        return false;
}
 
bool V4L2IO::is_image_big_endian()
{
        return 1;
}
 
#endif