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RaspiStillYUV.c
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RaspiStillYUV.c
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/*
Copyright (c) 2013, Broadcom Europe Ltd
Copyright (c) 2013, James Hughes
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/*
* \file RaspiStillYUV.c
* Command line program to capture a still frame and dump uncompressed it to file.
* Also optionally display a preview/viewfinder of current camera input.
*
* \date 4th March 2013
* \Author: James Hughes
*
* Description
*
* 2 components are created; camera and preview.
* Camera component has three ports, preview, video and stills.
* Preview is connected using standard mmal connections, the stills output
* is written straight to the file in YUV 420 format via the requisite buffer
* callback. video port is not used
*
* We use the RaspiCamControl code to handle the specific camera settings.
* We use the RaspiPreview code to handle the generic preview
*/
// We use some GNU extensions (basename)
#define _GNU_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <memory.h>
#include <sysexits.h>
#include <unistd.h>
#include <errno.h>
#define VERSION_STRING "v1.3.5"
#include "bcm_host.h"
#include "interface/vcos/vcos.h"
#include "interface/mmal/mmal.h"
#include "interface/mmal/mmal_logging.h"
#include "interface/mmal/mmal_buffer.h"
#include "interface/mmal/util/mmal_util.h"
#include "interface/mmal/util/mmal_util_params.h"
#include "interface/mmal/util/mmal_default_components.h"
#include "interface/mmal/util/mmal_connection.h"
#include "RaspiCamControl.h"
#include "RaspiPreview.h"
#include "RaspiCLI.h"
#include <semaphore.h>
// Standard port setting for the camera component
#define MMAL_CAMERA_PREVIEW_PORT 0
#define MMAL_CAMERA_VIDEO_PORT 1
#define MMAL_CAMERA_CAPTURE_PORT 2
// Stills format information
// 0 implies variable
#define STILLS_FRAME_RATE_NUM 0
#define STILLS_FRAME_RATE_DEN 1
/// Video render needs at least 2 buffers.
#define VIDEO_OUTPUT_BUFFERS_NUM 3
/// Frame advance method
#define FRAME_NEXT_SINGLE 0
#define FRAME_NEXT_TIMELAPSE 1
#define FRAME_NEXT_KEYPRESS 2
#define FRAME_NEXT_FOREVER 3
#define FRAME_NEXT_GPIO 4
#define FRAME_NEXT_SIGNAL 5
#define FRAME_NEXT_IMMEDIATELY 6
int mmal_status_to_int(MMAL_STATUS_T status);
static void signal_handler(int signal_number);
/** Structure containing all state information for the current run
*/
typedef struct
{
int timeout; /// Time taken before frame is grabbed and app then shuts down. Units are milliseconds
int width; /// Requested width of image
int height; /// requested height of image
char *filename; /// filename of output file
char *linkname; /// filename of output file
int verbose; /// !0 if want detailed run information
int timelapse; /// Delay between each picture in timelapse mode. If 0, disable timelapse
int useRGB; /// Output RGB data rather than YUV
int fullResPreview; /// If set, the camera preview port runs at capture resolution. Reduces fps.
int frameNextMethod; /// Which method to use to advance to next frame
int settings; /// Request settings from the camera
int cameraNum; /// Camera number
int burstCaptureMode; /// Enable burst mode
RASPIPREVIEW_PARAMETERS preview_parameters; /// Preview setup parameters
RASPICAM_CAMERA_PARAMETERS camera_parameters; /// Camera setup parameters
MMAL_COMPONENT_T *camera_component; /// Pointer to the camera component
MMAL_COMPONENT_T *null_sink_component; /// Pointer to the camera component
MMAL_CONNECTION_T *preview_connection; /// Pointer to the connection from camera to preview
MMAL_POOL_T *camera_pool; /// Pointer to the pool of buffers used by camera stills port
} RASPISTILLYUV_STATE;
/** Struct used to pass information in camera still port userdata to callback
*/
typedef struct
{
FILE *file_handle; /// File handle to write buffer data to.
VCOS_SEMAPHORE_T complete_semaphore; /// semaphore which is posted when we reach end of frame (indicates end of capture or fault)
RASPISTILLYUV_STATE *pstate; /// pointer to our state in case required in callback
} PORT_USERDATA;
static void display_valid_parameters(char *app_name);
/// Comamnd ID's and Structure defining our command line options
#define CommandHelp 0
#define CommandWidth 1
#define CommandHeight 2
#define CommandOutput 3
#define CommandVerbose 4
#define CommandTimeout 5
#define CommandTimelapse 6
#define CommandUseRGB 7
#define CommandCamSelect 8
#define CommandFullResPreview 9
#define CommandLink 10
#define CommandKeypress 11
#define CommandSignal 12
#define CommandSettings 13
#define CommandBurstMode 14
static COMMAND_LIST cmdline_commands[] =
{
{ CommandHelp, "-help", "?", "This help information", 0 },
{ CommandWidth, "-width", "w", "Set image width <size>", 1 },
{ CommandHeight, "-height", "h", "Set image height <size>", 1 },
{ CommandOutput, "-output", "o", "Output filename <filename>. If not specifed, no image is saved", 1 },
{ CommandVerbose, "-verbose", "v", "Output verbose information during run", 0 },
{ CommandTimeout, "-timeout", "t", "Time (in ms) before takes picture and shuts down. If not specified set to 5s", 1 },
{ CommandTimelapse,"-timelapse", "tl", "Timelapse mode. Takes a picture every <t>ms", 1},
{ CommandUseRGB, "-rgb", "rgb","Save as RGB data rather than YUV", 0},
{ CommandCamSelect,"-camselect", "cs", "Select camera <number>. Default 0", 1 },
{ CommandFullResPreview,"-fullpreview","fp", "Run the preview using the still capture resolution (may reduce preview fps)", 0},
{ CommandLink, "-latest", "l", "Link latest complete image to filename <filename>", 1},
{ CommandKeypress,"-keypress", "k", "Wait between captures for a ENTER, X then ENTER to exit", 0},
{ CommandSignal, "-signal", "s", "Wait between captures for a SIGUSR1 from another process", 0},
{ CommandSettings, "-settings", "set","Retrieve camera settings and write to stdout", 0},
{ CommandBurstMode, "-burst", "bm", "Enable 'burst capture mode'", 0},
};
static int cmdline_commands_size = sizeof(cmdline_commands) / sizeof(cmdline_commands[0]);
static struct
{
char *description;
int nextFrameMethod;
} next_frame_description[] =
{
{"Single capture", FRAME_NEXT_SINGLE},
{"Capture on timelapse", FRAME_NEXT_TIMELAPSE},
{"Capture on keypress", FRAME_NEXT_KEYPRESS},
{"Run forever", FRAME_NEXT_FOREVER},
{"Capture on GPIO", FRAME_NEXT_GPIO},
{"Capture on signal", FRAME_NEXT_SIGNAL},
};
static int next_frame_description_size = sizeof(next_frame_description) / sizeof(next_frame_description[0]);
/**
* Assign a default set of parameters to the state passed in
*
* @param state Pointer to state structure to assign defaults to
*/
static void default_status(RASPISTILLYUV_STATE *state)
{
if (!state)
{
vcos_assert(0);
return;
}
// Default everything to zero
memset(state, 0, sizeof(RASPISTILLYUV_STATE));
// Now set anything non-zero
state->timeout = 5000; // 5s delay before take image
state->width = 2592;
state->height = 1944;
state->timelapse = 0;
state->filename = NULL;
state->linkname = NULL;
state->verbose = 0;
state->fullResPreview = 0;
state->frameNextMethod = FRAME_NEXT_SINGLE;
state->settings = 0;
state->burstCaptureMode=0;
// Setup preview window defaults
raspipreview_set_defaults(&state->preview_parameters);
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&state->camera_parameters);
// Set default camera
state->cameraNum = 0;
}
/**
* Dump image state parameters to stderr. Used for debugging
*
* @param state Pointer to state structure to assign defaults to
*/
static void dump_status(RASPISTILLYUV_STATE *state)
{
int i;
if (!state)
{
vcos_assert(0);
return;
}
fprintf(stderr, "Width %d, Height %d, filename %s\n", state->width,
state->height, state->filename);
fprintf(stderr, "Time delay %d, Timelapse %d\n", state->timeout, state->timelapse);
fprintf(stderr, "Link to latest frame enabled ");
if (state->linkname)
{
fprintf(stderr, " yes, -> %s\n", state->linkname);
}
else
{
fprintf(stderr, " no\n");
}
fprintf(stderr, "Full resolution preview %s\n", state->fullResPreview ? "Yes": "No");
fprintf(stderr, "Capture method : ");
for (i=0;i<next_frame_description_size;i++)
{
if (state->frameNextMethod == next_frame_description[i].nextFrameMethod)
fprintf(stderr, next_frame_description[i].description);
}
fprintf(stderr, "\n\n");
raspipreview_dump_parameters(&state->preview_parameters);
raspicamcontrol_dump_parameters(&state->camera_parameters);
}
/**
* Parse the incoming command line and put resulting parameters in to the state
*
* @param argc Number of arguments in command line
* @param argv Array of pointers to strings from command line
* @param state Pointer to state structure to assign any discovered parameters to
* @return non-0 if failed for some reason, 0 otherwise
*/
static int parse_cmdline(int argc, const char **argv, RASPISTILLYUV_STATE *state)
{
// Parse the command line arguments.
// We are looking for --<something> or -<abreviation of something>
int valid = 1; // set 0 if we have a bad parameter
int i;
for (i = 1; i < argc && valid; i++)
{
int command_id, num_parameters;
if (!argv[i])
continue;
if (argv[i][0] != '-')
{
valid = 0;
continue;
}
// Assume parameter is valid until proven otherwise
valid = 1;
command_id = raspicli_get_command_id(cmdline_commands, cmdline_commands_size, &argv[i][1], &num_parameters);
// If we found a command but are missing a parameter, continue (and we will drop out of the loop)
if (command_id != -1 && num_parameters > 0 && (i + 1 >= argc) )
continue;
// We are now dealing with a command line option
switch (command_id)
{
case CommandHelp:
display_valid_parameters(basename(argv[0]));
return -1;
case CommandWidth: // Width > 0
if (sscanf(argv[i + 1], "%u", &state->width) != 1)
valid = 0;
else
i++;
break;
case CommandHeight: // Height > 0
if (sscanf(argv[i + 1], "%u", &state->height) != 1)
valid = 0;
else
i++;
break;
case CommandOutput: // output filename
{
int len = strlen(argv[i + 1]);
if (len)
{
state->filename = malloc(len + 10); // leave enough space for any timelapse generated changes to filename
vcos_assert(state->filename);
if (state->filename)
strncpy(state->filename, argv[i + 1], len+1);
i++;
}
else
valid = 0;
break;
}
case CommandLink :
{
int len = strlen(argv[i+1]);
if (len)
{
state->linkname = malloc(len + 10);
vcos_assert(state->linkname);
if (state->linkname)
strncpy(state->linkname, argv[i + 1], len+1);
i++;
}
else
valid = 0;
break;
}
case CommandVerbose: // display lots of data during run
state->verbose = 1;
break;
case CommandTimeout: // Time to run viewfinder for before taking picture, in seconds
{
if (sscanf(argv[i + 1], "%u", &state->timeout) == 1)
{
// Ensure that if previously selected CommandKeypress we don't overwrite it
if (state->timeout == 0 && state->frameNextMethod == FRAME_NEXT_SINGLE)
state->frameNextMethod = FRAME_NEXT_FOREVER;
i++;
}
else
valid = 0;
break;
}
case CommandTimelapse:
if (sscanf(argv[i + 1], "%u", &state->timelapse) != 1)
valid = 0;
else
{
if (state->timelapse)
state->frameNextMethod = FRAME_NEXT_TIMELAPSE;
else
state->frameNextMethod = FRAME_NEXT_IMMEDIATELY;
i++;
}
break;
case CommandUseRGB: // display lots of data during run
state->useRGB = 1;
break;
case CommandCamSelect: //Select camera input port
{
if (sscanf(argv[i + 1], "%u", &state->cameraNum) == 1)
{
i++;
}
else
valid = 0;
break;
}
case CommandFullResPreview:
state->fullResPreview = 1;
break;
case CommandKeypress: // Set keypress between capture mode
state->frameNextMethod = FRAME_NEXT_KEYPRESS;
break;
case CommandSignal: // Set SIGUSR1 between capture mode
state->frameNextMethod = FRAME_NEXT_SIGNAL;
// Reenable the signal
signal(SIGUSR1, signal_handler);
break;
case CommandSettings:
state->settings = 1;
break;
case CommandBurstMode:
state->burstCaptureMode=1;
break;
default:
{
// Try parsing for any image specific parameters
// result indicates how many parameters were used up, 0,1,2
// but we adjust by -1 as we have used one already
const char *second_arg = (i + 1 < argc) ? argv[i + 1] : NULL;
int parms_used = (raspicamcontrol_parse_cmdline(&state->camera_parameters, &argv[i][1], second_arg));
// Still unused, try preview options
if (!parms_used)
parms_used = raspipreview_parse_cmdline(&state->preview_parameters, &argv[i][1], second_arg);
// If no parms were used, this must be a bad parameters
if (!parms_used)
valid = 0;
else
i += parms_used - 1;
break;
}
}
}
if (!valid)
{
fprintf(stderr, "Invalid command line option (%s)\n", argv[i-1]);
return 1;
}
return 0;
}
/**
* Display usage information for the application to stdout
*
* @param app_name String to display as the application name
*
*/
static void display_valid_parameters(char *app_name)
{
fprintf(stderr, "Runs camera for specific time, and take uncompressed YUV capture at end if requested\n\n");
fprintf(stderr, "usage: %s [options]\n\n", app_name);
fprintf(stderr, "Image parameter commands\n\n");
raspicli_display_help(cmdline_commands, cmdline_commands_size);
// Help for preview options
raspipreview_display_help();
// Now display any help information from the camcontrol code
raspicamcontrol_display_help();
fprintf(stderr, "\n");
return;
}
/**
* buffer header callback function for camera control
*
* @param port Pointer to port from which callback originated
* @param buffer mmal buffer header pointer
*/
static void camera_control_callback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer)
{
fprintf(stderr, "Camera control callback cmd=0x%08x", buffer->cmd);
if (buffer->cmd == MMAL_EVENT_PARAMETER_CHANGED)
{
MMAL_EVENT_PARAMETER_CHANGED_T *param = (MMAL_EVENT_PARAMETER_CHANGED_T *)buffer->data;
switch (param->hdr.id) {
case MMAL_PARAMETER_CAMERA_SETTINGS:
{
MMAL_PARAMETER_CAMERA_SETTINGS_T *settings = (MMAL_PARAMETER_CAMERA_SETTINGS_T*)param;
vcos_log_error("Exposure now %u, analog gain %u/%u, digital gain %u/%u",
settings->exposure,
settings->analog_gain.num, settings->analog_gain.den,
settings->digital_gain.num, settings->digital_gain.den);
vcos_log_error("AWB R=%u/%u, B=%u/%u",
settings->awb_red_gain.num, settings->awb_red_gain.den,
settings->awb_blue_gain.num, settings->awb_blue_gain.den
);
}
break;
}
}
else if (buffer->cmd == MMAL_EVENT_ERROR)
{
vcos_log_error("No data received from sensor. Check all connections, including the Sunny one on the camera board");
}
else
{
vcos_log_error("Received unexpected camera control callback event, 0x%08x", buffer->cmd);
}
mmal_buffer_header_release(buffer);
}
/**
* buffer header callback function for camera output port
*
* Callback will dump buffer data to the specific file
*
* @param port Pointer to port from which callback originated
* @param buffer mmal buffer header pointer
*/
static void camera_buffer_callback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer)
{
int complete = 0;
// We pass our file handle and other stuff in via the userdata field.
PORT_USERDATA *pData = (PORT_USERDATA *)port->userdata;
if (pData)
{
int bytes_written = buffer->length;
if (buffer->length && pData->file_handle)
{
mmal_buffer_header_mem_lock(buffer);
bytes_written = fwrite(buffer->data, 1, buffer->length, pData->file_handle);
mmal_buffer_header_mem_unlock(buffer);
}
// We need to check we wrote what we wanted - it's possible we have run out of storage.
if (bytes_written != buffer->length)
{
vcos_log_error("Unable to write buffer to file - aborting");
complete = 1;
}
// Check end of frame or error
if (buffer->flags & (MMAL_BUFFER_HEADER_FLAG_FRAME_END | MMAL_BUFFER_HEADER_FLAG_TRANSMISSION_FAILED))
complete = 1;
}
else
{
vcos_log_error("Received a camera still buffer callback with no state");
}
// release buffer back to the pool
mmal_buffer_header_release(buffer);
// and send one back to the port (if still open)
if (port->is_enabled)
{
MMAL_STATUS_T status;
MMAL_BUFFER_HEADER_T *new_buffer = mmal_queue_get(pData->pstate->camera_pool->queue);
// and back to the port from there.
if (new_buffer)
{
status = mmal_port_send_buffer(port, new_buffer);
}
if (!new_buffer || status != MMAL_SUCCESS)
vcos_log_error("Unable to return the buffer to the camera still port");
}
if (complete)
{
vcos_semaphore_post(&(pData->complete_semaphore));
}
}
/**
* Create the camera component, set up its ports
*
* @param state Pointer to state control struct
*
* @return 0 if failed, pointer to component if successful
*
*/
static MMAL_STATUS_T create_camera_component(RASPISTILLYUV_STATE *state)
{
MMAL_COMPONENT_T *camera = 0;
MMAL_ES_FORMAT_T *format;
MMAL_PORT_T *preview_port = NULL, *video_port = NULL, *still_port = NULL;
MMAL_STATUS_T status;
MMAL_POOL_T *pool;
/* Create the component */
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to create camera component");
goto error;
}
MMAL_PARAMETER_INT32_T camera_num =
{{MMAL_PARAMETER_CAMERA_NUM, sizeof(camera_num)}, state->cameraNum};
status = mmal_port_parameter_set(camera->control, &camera_num.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Could not select camera : error %d", status);
goto error;
}
if (!camera->output_num)
{
status = MMAL_ENOSYS;
vcos_log_error("Camera doesn't have output ports");
goto error;
}
preview_port = camera->output[MMAL_CAMERA_PREVIEW_PORT];
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
if (state->settings)
{
MMAL_PARAMETER_CHANGE_EVENT_REQUEST_T change_event_request =
{{MMAL_PARAMETER_CHANGE_EVENT_REQUEST, sizeof(MMAL_PARAMETER_CHANGE_EVENT_REQUEST_T)},
MMAL_PARAMETER_CAMERA_SETTINGS, 1};
status = mmal_port_parameter_set(camera->control, &change_event_request.hdr);
if ( status != MMAL_SUCCESS )
{
vcos_log_error("No camera settings events");
}
}
// Enable the camera, and tell it its control callback function
status = mmal_port_enable(camera->control, camera_control_callback);
if (status != MMAL_SUCCESS )
{
vcos_log_error("Unable to enable control port : error %d", status);
goto error;
}
// set up the camera configuration
{
MMAL_PARAMETER_CAMERA_CONFIG_T cam_config =
{
{ MMAL_PARAMETER_CAMERA_CONFIG, sizeof(cam_config) },
.max_stills_w = state->width,
.max_stills_h = state->height,
.stills_yuv422 = 0,
.one_shot_stills = 1,
.max_preview_video_w = state->preview_parameters.previewWindow.width,
.max_preview_video_h = state->preview_parameters.previewWindow.height,
.num_preview_video_frames = 3,
.stills_capture_circular_buffer_height = 0,
.fast_preview_resume = 0,
.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC
};
if (state->fullResPreview)
{
cam_config.max_preview_video_w = state->width;
cam_config.max_preview_video_h = state->height;
}
mmal_port_parameter_set(camera->control, &cam_config.hdr);
}
raspicamcontrol_set_all_parameters(camera, &state->camera_parameters);
// Now set up the port formats
format = preview_port->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
if(state->camera_parameters.shutter_speed > 6000000)
{
MMAL_PARAMETER_FPS_RANGE_T fps_range = {{MMAL_PARAMETER_FPS_RANGE, sizeof(fps_range)},
{ 50, 1000 }, {166, 1000}};
mmal_port_parameter_set(preview_port, &fps_range.hdr);
}
else if(state->camera_parameters.shutter_speed > 1000000)
{
MMAL_PARAMETER_FPS_RANGE_T fps_range = {{MMAL_PARAMETER_FPS_RANGE, sizeof(fps_range)},
{ 166, 1000 }, {999, 1000}};
mmal_port_parameter_set(preview_port, &fps_range.hdr);
}
if (state->fullResPreview)
{
// In this mode we are forcing the preview to be generated from the full capture resolution.
// This runs at a max of 15fps with the OV5647 sensor.
format->es->video.width = VCOS_ALIGN_UP(state->width, 32);
format->es->video.height = VCOS_ALIGN_UP(state->height, 16);
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->width;
format->es->video.crop.height = state->height;
format->es->video.frame_rate.num = FULL_RES_PREVIEW_FRAME_RATE_NUM;
format->es->video.frame_rate.den = FULL_RES_PREVIEW_FRAME_RATE_DEN;
}
else
{
// Use a full FOV 4:3 mode
format->es->video.width = VCOS_ALIGN_UP(state->preview_parameters.previewWindow.width, 32);
format->es->video.height = VCOS_ALIGN_UP(state->preview_parameters.previewWindow.height, 16);
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->preview_parameters.previewWindow.width;
format->es->video.crop.height = state->preview_parameters.previewWindow.height;
format->es->video.frame_rate.num = PREVIEW_FRAME_RATE_NUM;
format->es->video.frame_rate.den = PREVIEW_FRAME_RATE_DEN;
}
status = mmal_port_format_commit(preview_port);
if (status != MMAL_SUCCESS )
{
vcos_log_error("camera viewfinder format couldn't be set");
goto error;
}
// Set the same format on the video port (which we dont use here)
mmal_format_full_copy(video_port->format, format);
status = mmal_port_format_commit(video_port);
if (status != MMAL_SUCCESS )
{
vcos_log_error("camera video format couldn't be set");
goto error;
}
// Ensure there are enough buffers to avoid dropping frames
if (video_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
video_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
format = still_port->format;
if(state->camera_parameters.shutter_speed > 6000000)
{
MMAL_PARAMETER_FPS_RANGE_T fps_range = {{MMAL_PARAMETER_FPS_RANGE, sizeof(fps_range)},
{ 50, 1000 }, {166, 1000}};
mmal_port_parameter_set(still_port, &fps_range.hdr);
}
else if(state->camera_parameters.shutter_speed > 1000000)
{
MMAL_PARAMETER_FPS_RANGE_T fps_range = {{MMAL_PARAMETER_FPS_RANGE, sizeof(fps_range)},
{ 167, 1000 }, {999, 1000}};
mmal_port_parameter_set(still_port, &fps_range.hdr);
}
// Set our stills format on the stills port
if (state->useRGB)
{
format->encoding = MMAL_ENCODING_BGR24;
format->encoding_variant = MMAL_ENCODING_BGR24;
}
else
{
format->encoding = MMAL_ENCODING_I420;
format->encoding_variant = MMAL_ENCODING_I420;
}
format->es->video.width = VCOS_ALIGN_UP(state->width, 32);
format->es->video.height = VCOS_ALIGN_UP(state->height, 16);
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->width;
format->es->video.crop.height = state->height;
format->es->video.frame_rate.num = STILLS_FRAME_RATE_NUM;
format->es->video.frame_rate.den = STILLS_FRAME_RATE_DEN;
if (still_port->buffer_size < still_port->buffer_size_min)
still_port->buffer_size = still_port->buffer_size_min;
still_port->buffer_num = still_port->buffer_num_recommended;
status = mmal_port_format_commit(still_port);
if (status != MMAL_SUCCESS )
{
vcos_log_error("camera still format couldn't be set");
goto error;
}
/* Enable component */
status = mmal_component_enable(camera);
if (status != MMAL_SUCCESS )
{
vcos_log_error("camera component couldn't be enabled");
goto error;
}
/* Create pool of buffer headers for the output port to consume */
pool = mmal_port_pool_create(still_port, still_port->buffer_num, still_port->buffer_size);
if (!pool)
{
vcos_log_error("Failed to create buffer header pool for camera still port %s", still_port->name);
}
state->camera_pool = pool;
state->camera_component = camera;
if (state->verbose)
fprintf(stderr, "Camera component done\n");
return status;
error:
if (camera)
mmal_component_destroy(camera);
return status;
}
/**
* Destroy the camera component
*
* @param state Pointer to state control struct
*
*/
static void destroy_camera_component(RASPISTILLYUV_STATE *state)
{
if (state->camera_component)
{
mmal_component_destroy(state->camera_component);
state->camera_component = NULL;
}
}
/**
* Connect two specific ports together
*
* @param output_port Pointer the output port
* @param input_port Pointer the input port
* @param Pointer to a mmal connection pointer, reassigned if function successful
* @return Returns a MMAL_STATUS_T giving result of operation
*
*/
static MMAL_STATUS_T connect_ports(MMAL_PORT_T *output_port, MMAL_PORT_T *input_port, MMAL_CONNECTION_T **connection)
{
MMAL_STATUS_T status;
status = mmal_connection_create(connection, output_port, input_port, MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if (status == MMAL_SUCCESS)
{
status = mmal_connection_enable(*connection);
if (status != MMAL_SUCCESS)
mmal_connection_destroy(*connection);
}
return status;
}
/**
* Allocates and generates a filename based on the
* user-supplied pattern and the frame number.
* On successful return, finalName and tempName point to malloc()ed strings
* which must be freed externally. (On failure, returns nulls that
* don't need free()ing.)
*
* @param finalName pointer receives an
* @param pattern sprintf pattern with %d to be replaced by frame
* @param frame for timelapse, the frame number
* @return Returns a MMAL_STATUS_T giving result of operation
*/
MMAL_STATUS_T create_filenames(char** finalName, char** tempName, char * pattern, int frame)
{
*finalName = NULL;
*tempName = NULL;
if (0 > asprintf(finalName, pattern, frame) ||
0 > asprintf(tempName, "%s~", *finalName))
{
if (*finalName != NULL)
{
free(*finalName);
}
return MMAL_ENOMEM; // It may be some other error, but it is not worth getting it right
}
return MMAL_SUCCESS;
}
/**
* Checks if specified port is valid and enabled, then disables it
*
* @param port Pointer the port
*
*/
static void check_disable_port(MMAL_PORT_T *port)
{
if (port && port->is_enabled)
mmal_port_disable(port);
}
/**
* Handler for sigint signals
*
* @param signal_number ID of incoming signal.
*
*/
static void signal_handler(int signal_number)
{
if (signal_number == SIGUSR1)
{
// Handle but ignore - prevents us dropping out if started in none-signal mode
// and someone sends us the USR1 signal anyway
}
else
{
// Going to abort on all other signals
vcos_log_error("Aborting program\n");
exit(130);
}
}
/**
* Function to wait in various ways (depending on settings) for the next frame
*
* @param state Pointer to the state data
* @param [in][out] frame The last frame number, adjusted to next frame number on output
* @return !0 if to continue, 0 if reached end of run
*/
static int wait_for_next_frame(RASPISTILLYUV_STATE *state, int *frame)
{
static int64_t complete_time = -1;
int keep_running = 1;
int64_t current_time = vcos_getmicrosecs64()/1000;
if (complete_time == -1)
complete_time = current_time + state->timeout;
// if we have run out of time, flag we need to exit
// If timeout = 0 then always continue
if (current_time >= complete_time && state->timeout != 0)
keep_running = 0;
switch (state->frameNextMethod)
{
case FRAME_NEXT_SINGLE :
// simple timeout for a single capture
vcos_sleep(state->timeout);
return 0;
case FRAME_NEXT_FOREVER :
{
*frame+=1;
// Have a sleep so we don't hog the CPU.
vcos_sleep(10000);
// Run forever so never indicate end of loop
return 1;
}
case FRAME_NEXT_TIMELAPSE :
{