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#include "innomakerov9281.h"
#include <errno.h>
#include <fcntl.h>
#include <linux/videodev2.h>
#include <stdio.h>
#include <string.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <unistd.h>
#include "constants.h"
// #include "rotaryencoder.h"
#define LOGD(...) \
do { \
printf(__VA_ARGS__); \
printf("\n"); \
} while (0)
#define DBG(fmt, args...) LOGD("%s:%d, " fmt, __FUNCTION__, __LINE__, ##args);
extern uint64_t sum_elapsed_ns;
extern uint64_t corr_elapsed_ns;
extern uint64_t max_elapsed_ns;
extern uint64_t value_elapsed_ns;
constexpr char videoDevice[] = "/dev/video0";
InnoMakerOV9281::InnoMakerOV9281() {}
InnoMakerOV9281::~InnoMakerOV9281()
{
int ret{-1};
for (int i = 0; i < BUFFER_COUNT; ++i) {
ret = munmap(video_buffer_ptr[i], img_size);
if (ret < 0) {
DBG("Munmap failed!!.");
}
}
// std::cout << __func__ << std::endl;
if (m_cam_fd >= 0) {
int ret = close(m_cam_fd);
if (ret == -1) {
// std::cout << __func__
// << ": cannot close camera: " << strerror(errno)
// << std::endl;
}
};
// std::cout << __func__ << ": success" << std::endl;
}
bool InnoMakerOV9281::init()
{
if (!openCam())
return false;
if (!selectCam())
return false;
if (!initCam())
return false;
return true;
}
bool InnoMakerOV9281::setExposureTimeMs(int value)
{
return setCamParam(V4L2_CID_EXPOSURE, value);
}
bool InnoMakerOV9281::setGain(int value)
{
return setCamParam(V4L2_CID_GAIN, value);
}
bool InnoMakerOV9281::setCamParam(unsigned int v4l2controlId, int value)
{
v4l2_control ctl{v4l2controlId, value};
int ret = ioctl(m_cam_fd, VIDIOC_S_CTRL, &ctl);
if (ret < 0) {
fprintf(stderr,
"cannot set cam param: id - %d, error - '%s'\n",
v4l2controlId,
strerror(errno));
return false;
}
return true;
}
bool InnoMakerOV9281::openCam()
{
m_cam_fd = open(videoDevice, O_RDWR);
if (m_cam_fd < 0) {
fprintf(stderr, "cannot open cam '%s', error: '%s'\n", videoDevice, strerror(errno));
return false;
}
return true;
}
bool InnoMakerOV9281::selectCam(int camIdx)
{
int input = camIdx;
int ret = ioctl(m_cam_fd, VIDIOC_S_INPUT, &input);
if (ret < 0) {
fprintf(stderr, "cannot select cam: idx - %d, error - '%s'\n", camIdx, strerror(errno));
return false;
}
return true;
}
bool InnoMakerOV9281::initCam()
{
v4l2_format format;
memset(&format, 0, sizeof(v4l2_format));
format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
format.fmt.pix.pixelformat = V4L2_PIX_FMT_GREY;
format.fmt.pix.width = img_width;
format.fmt.pix.height = img_height;
int ret = ioctl(m_cam_fd, VIDIOC_TRY_FMT, &format);
if (ret < 0) {
fprintf(stderr, "cannot try cam format: error - '%s'\n", strerror(errno));
return false;
}
// TODO: remove this?
format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
ret = ioctl(m_cam_fd, VIDIOC_S_FMT, &format);
if (ret < 0) {
fprintf(stderr, "cannot set cam format: error - '%s'\n", strerror(errno));
return false;
}
struct v4l2_requestbuffers request;
request.count = BUFFER_COUNT;
request.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
request.memory = V4L2_MEMORY_MMAP;
ret = ioctl(m_cam_fd, VIDIOC_REQBUFS, &request);
if (ret < 0) {
fprintf(stderr, "cannot set cam request buffers: ioctl error - '%s'\n", strerror(errno));
return false;
}
if (request.count < BUFFER_COUNT) {
fprintf(stderr, "cannot set cam request buffers\n");
return false;
}
struct v4l2_buffer buffer;
memset(&buffer, 0, sizeof(buffer));
buffer.type = request.type;
buffer.memory = V4L2_MEMORY_MMAP;
for (uint32_t i = 0; i < request.count; i++) {
buffer.index = i;
ret = ioctl(m_cam_fd, VIDIOC_QUERYBUF, &buffer);
if (ret < 0) {
DBG("ioctl(VIDIOC_QUERYBUF) failed %d(%s)", errno, strerror(errno));
return false;
}
DBG("buffer.length: %d", buffer.length);
DBG("buffer.m.offset: %d", buffer.m.offset);
video_buffer_ptr[i] = (uint8_t *)
mmap(NULL, buffer.length, PROT_READ | PROT_WRITE, MAP_SHARED, m_cam_fd, buffer.m.offset);
if (video_buffer_ptr[i] == MAP_FAILED) {
DBG("mmap() failed %d(%s)", errno, strerror(errno));
return false;
}
buffer.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buffer.memory = V4L2_MEMORY_MMAP;
buffer.index = i;
ret = ioctl(m_cam_fd, VIDIOC_QBUF, &buffer);
if (ret != 0) {
DBG("ioctl(VIDIOC_QBUF) failed %d(%s)", errno, strerror(errno));
return false;
}
}
int buffer_type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
ret = ioctl(m_cam_fd, VIDIOC_STREAMON, &buffer_type);
if (ret != 0) {
DBG("ioctl(VIDIOC_STREAMON) failed %d(%s)", errno, strerror(errno));
return false;
}
DBG("cam init done.");
return true;
}
bool InnoMakerOV9281::getImage(Image &image)
{
static struct timeval curr, prev;
static uint16_t counter = 0;
gettimeofday(&curr, NULL);
++counter;
double elapsedTime = (curr.tv_sec - prev.tv_sec) * 1000.0; // sec to ms
elapsedTime += (curr.tv_usec - prev.tv_usec) / 1000.0; // us to ms
if (elapsedTime > 1000.) {
// fprintf(stderr, "fps: %d, sec: %d\n", counter, curr.tv_sec);
fprintf(stderr,
"sum: %d,\tcorr: %d,\tval: %d\n",
sum_elapsed_ns / 1000 / counter,
corr_elapsed_ns / 1000 / counter,
// max_elapsed_ns / 1000 / counter,
value_elapsed_ns / 1000 / counter);
sum_elapsed_ns = 0;
corr_elapsed_ns = 0;
max_elapsed_ns = 0;
value_elapsed_ns = 0;
counter = 0;
prev = curr;
}
int ret;
struct v4l2_buffer buffer;
memset(&buffer, 0, sizeof(buffer));
buffer.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buffer.memory = V4L2_MEMORY_MMAP;
buffer.index = BUFFER_COUNT;
ret = ioctl(m_cam_fd, VIDIOC_DQBUF, &buffer);
if (ret != 0) {
DBG("ioctl(VIDIOC_DQBUF) failed %d(%s)", errno, strerror(errno));
return false;
}
if (buffer.index < 0 || buffer.index >= BUFFER_COUNT) {
DBG("invalid buffer index: %d", buffer.index);
return false;
}
image.height = img_height;
image.width = img_width;
// TODO: fill
// image.counters.encoderPosition = RotaryEncoder::instance()->position();
image.counters.measurementCounter = buffer.sequence;
image.counters.timestampUs = buffer.timestamp.tv_sec * 1000 * 1000 + buffer.timestamp.tv_usec;
memcpy(image.data, video_buffer_ptr[buffer.index], img_size);
ret = ioctl(m_cam_fd, VIDIOC_QBUF, &buffer);
if (ret != 0) {
DBG("ioctl(VIDIOC_QBUF) failed %d(%s)", errno, strerror(errno));
return false;
}
return true;
}
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