[Robotflow-cvs] RobotFlow/Devices/src V4L2Capture.cc,1.15,1.16

[Dominic L. <ma...@us...>]

Update of /cvsroot/robotflow/RobotFlow/Devices/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv16126/src

Modified Files:
	V4L2Capture.cc 
Log Message:
testing new driver


Index: V4L2Capture.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Devices/src/V4L2Capture.cc,v
retrieving revision 1.15
retrieving revision 1.16
diff -C2 -d -r1.15 -r1.16
*** V4L2Capture.cc	29 Mar 2005 15:20:39 -0000	1.15
--- V4L2Capture.cc	19 Oct 2005 20:20:19 -0000	1.16
***************
*** 1,3 ****
! /* Copyright (C) 2002 Dominic Letourneau (dom...@co...)
  
     This library is free software; you can redistribute it and/or
--- 1,3 ----
! /* Copyright (C) 2005 Dominic Letourneau (dom...@us...)
  
     This library is free software; you can redistribute it and/or
***************
*** 16,23 ****
  */
  
- #include "V4L2Capture.h"
  #include "BufferedNode.h"
  #include "Image.h"
  #include <stdlib.h>
  
  using namespace std;
--- 16,23 ----
  */
  
  #include "BufferedNode.h"
  #include "Image.h"
  #include <stdlib.h>
+ #include "V4L2Capture.h"
  
  using namespace std;
***************
*** 118,122 ****
    V4L2Capture(string nodeName, ParameterSet params)
      : BufferedNode(nodeName, params) {
! 
      m_outputID = addOutput("IMAGE");
  
--- 118,122 ----
    V4L2Capture(string nodeName, ParameterSet params)
      : BufferedNode(nodeName, params) {
!     
      m_outputID = addOutput("IMAGE");
  
***************
*** 133,137 ****
  
      string format = object_cast<String>(parameters.get("FORMAT"));
!     
      if (format == "GREYSCALE") {
        m_pixelsize = 1;
--- 133,141 ----
  
      string format = object_cast<String>(parameters.get("FORMAT"));
!     m_autoSoftBrightness = dereference_cast<bool>(parameters.get("AUTO_SOFT_BRIGHTNESS"));
! 
!     m_captureDevice.init(NULL);
! 
!     /*
      if (format == "GREYSCALE") {
        m_pixelsize = 1;
***************
*** 154,159 ****
      }
  
-     m_autoSoftBrightness = dereference_cast<bool>(parameters.get("AUTO_SOFT_BRIGHTNESS"));
- 
      if (!m_captureDevice.set_contrast(m_contrast)) {
        throw new GeneralException(string("Unable to set contrast on V4L2 device : ") + m_device, __FILE__,__LINE__);
--- 158,161 ----
***************
*** 175,183 ****
        throw new GeneralException(string("Unable to set auto white balance  on  V4L2 device : ") + m_device, __FILE__,__LINE__);
      }
! 
    }
  
    virtual void calculate(int output_id, int count, Buffer &out) {
  
      Image *image = Image::alloc(m_width,m_height,m_pixelsize); //allocate image
  
--- 177,195 ----
        throw new GeneralException(string("Unable to set auto white balance  on  V4L2 device : ") + m_device, __FILE__,__LINE__);
      }
!     */
    }
  
    virtual void calculate(int output_id, int count, Buffer &out) {
  
+ 
+ 
+ 
+ 
+     m_captureDevice.mainloop();
+ 
+ 
+ 
+ 
+     /*
      Image *image = Image::alloc(m_width,m_height,m_pixelsize); //allocate image
  
***************
*** 199,238 ****
      }
      out[count] = ObjectRef(image);
    }
  
!  private:
! 
!   void automaticBrightness(Image *image) {
!     //cerr<<"automatic brightness ON"<<endl;
! 
!     float avg_intensity = 0;
! 
!     //init random number generator
!     srand(time(NULL));
! 
!     //taking 1% of image pixels
!     for (int i = 0; i < (image->get_width() *  image->get_height()) / 100; i++) {
!       unsigned short *imagePixelPtr = (unsigned short*) image->get_data();
!       int rand_pos = rand() % (image->get_width() * image->get_height());
! 
!       avg_intensity += (((imagePixelPtr[rand_pos] >> 10)) & 0x1F + ((imagePixelPtr[rand_pos]) >> 5) & 0x1F + (imagePixelPtr[rand_pos]) & 0x1F);
! 
!     }
!     
!     avg_intensity /= 3;
!     //cerr<<"average_intensity "<<avg_intensity<<endl;
! 
!     if (avg_intensity < 10) {
!       //+++ brigh
!       m_brightness += 10;
!       m_captureDevice.set_brightness(m_brightness);
!       //cerr<<"brightness "<<m_brightness<<endl;
!     } else if (avg_intensity > 20) {
!       //--- brightness
!       m_brightness -= 10;
!       m_captureDevice.set_brightness(m_brightness);
!       //cerr<<"brightness "<<m_brightness<<endl;
!     }   
!   }
  
  
--- 211,219 ----
      }
      out[count] = ObjectRef(image);
+     */
+     out[count] = nilObject;
    }
  
!  
  
  
***************
*** 241,656 ****
  }//namespace RobotFlow
  
! /*=========================================================================
!     capture.cc
!   -------------------------------------------------------------------------
!     Example code for video capture under Video4Linux II
!   -------------------------------------------------------------------------
!     Copyright 1999, 2000
!     Anna Helena Reali Costa, James R. Bruce
!     School of Computer Science
!     Carnegie Mellon University
!   -------------------------------------------------------------------------
!     This source code is distributed "as is" with absolutely no warranty.
!     See LICENSE, which should be included with this distribution.
!   -------------------------------------------------------------------------
!     Revision History:
!       2000-02-05:  Ported to work with V4L2 API
!       1999-11-23:  Quick C++ port to simplify & wrap in an object (jbruce) 
!       1999-05-01:  Initial version (annar)
!   =========================================================================*/
! 
! //==== Capture Class Implementation =======================================//
! 
! void grabSetFps(int fd, int fps)
! {
! 
!   struct v4l2_streamparm params;
! 
!   printf("called v4l2_set_fps with fps=%d\n",fps);
!   params.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
! 
!   if (EINVAL == ioctl(fd, VIDIOC_G_PARM, &params)) {
!     perror("VIDIOC_G_PARAM");
!     return;
!   }
! 
!   params.parm.capture.capturemode |= V4L2_CAP_TIMEPERFRAME;
!   params.parm.capture.timeperframe.numerator = 10000000;
!   params.parm.capture.timeperframe.denominator = fps;
! 
!   if (EINVAL == ioctl(fd, VIDIOC_S_PARM, &params)){
!      perror("VIDIOC_S_PARAM");
!      return;
!   }
! 
! }
! 
! bool capture::initialize(const char *device,int nwidth,int nheight,int nfmt, bool continuous)
! {
!   struct v4l2_requestbuffers req;
!   struct v4l2_capability capability;
!   struct v4l2_input inputs;
!   struct v4l2_standard standard;
!   v4l2_std_id std;
! 
!   int err;
!   int i;
! 
!   // Set defaults if not given
!   if(!device) device = DEFAULT_VIDEO_DEVICE;
!   if(!nfmt) nfmt = DEFAULT_VIDEO_FORMAT;
!   if(!nwidth || !nheight){
!     nwidth  = DEFAULT_IMAGE_WIDTH;
!     nheight = DEFAULT_IMAGE_HEIGHT;
!   }
! 
!   // Open the video device
!   vid_fd = open(device, O_RDWR);
!   if(vid_fd == -1){
!     printf("Could not open video device [%s]\n",device);
!     perror("Error : ");
!     return(false);
!   }
! 
!   //query device capabilities
!   err = ioctl(vid_fd,VIDIOC_QUERYCAP, &capability);
! 
!   if(err == EINVAL) {
!     perror("Unable to get capabilities (incompatible kernel) ");
!     return false;
!   }
!   else {
!     cerr<<"Got capabilities"<<endl;
!     printf("Driver : %s \n",capability.driver);
!     printf("Cart : %s \n",capability.card);
!     printf("Cap : %x \n",capability.capabilities);
!     if (capability.capabilities & V4L2_CAP_VIDEO_CAPTURE) {
!       cerr<<"Video capture capable!"<<endl;
!     }
!     else {
!       cerr<<"Capture card unrecognized!"<<endl;
!       return false;
!     }
!   }
! 
!   //get input
!   err = ioctl(vid_fd,VIDIOC_G_INPUT,&inputs);
!   
!   if (err == EINVAL) {
!     perror("VIDIOC_G_INPUG ");
!     return false;
!   }
! 
! 
!   //enum inputs
!   err = ioctl(vid_fd, VIDIOC_ENUMINPUT, &inputs);
! 
!   if (err == EINVAL) {
!     perror("VIDEOC_ENUMINPUT : ");
!     return false;
!   }
!   else {
!     cerr<<"input index "<<inputs.index<<endl;
!     cerr<<"input name "<<inputs.name<<endl;
!     cerr<<"input got signal " <<!(inputs.status & V4L2_IN_ST_NO_SIGNAL)<<endl;
! 
!   }
! 
!   //set standard to NTSC
! 
!   std = V4L2_STD_NTSC;
!   
!   if (EINVAL == ioctl(vid_fd,VIDIOC_S_STD,&std)) {
!     perror("VIDIOC_S_STD");
!     return false;
!   }
! 
! 
!   if (EINVAL == ioctl(vid_fd,VIDIOC_G_STD,&std)) {
!     perror("VIDIOC_G_STD");
!     return false;
!   }
! 
!   //print standard description
!   standard.index = 0;
! 
!   while(1) {
! 
!     if(EINVAL == ioctl (vid_fd, VIDIOC_ENUMSTD, &standard)) {
!       //perror("VIDIOC_ENUMSTD");
! 
!       //return false;
!       break;
!     }
!     
!     if (standard.id == std) {
!       printf ("Current video standard: %s\n", standard.name);
!       break;
!     }
! 
!     standard.index++;
!   }
!         
! 
!   
!   fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
! 
! 
!   err = ioctl(vid_fd, VIDIOC_G_FMT, &fmt);
!   if(err){
!     perror("VIDIOC_G_FMT");
!     return(false);
!   }
! 
! 
!   // Set video format
!   fmt.fmt.pix.width = nwidth;
!   fmt.fmt.pix.height = nheight;
!   fmt.fmt.pix.pixelformat = nfmt;
! 
!   if(EINVAL == ioctl(vid_fd, VIDIOC_S_FMT, &fmt)) {
!     perror("S_FMT:");
!     return(false);
!   }
! 
!   //Stop init here if standard I/O  
! 
!   //setting 30 frames per second
!   if (continuous) {
!     grabSetFps(vid_fd, 30);
! 
! 
!     // Request mmap-able capture buffers
!     req.count = STREAMBUFS;
!     req.type  = V4L2_BUF_TYPE_VIDEO_CAPTURE;
!     req.memory = V4L2_MEMORY_MMAP;
! 
!     err = ioctl(vid_fd, VIDIOC_REQBUFS, &req);
!     if(err < 0 || req.count < 1){
!       printf("REQBUFS returned error %d, count %d\n",
! 	     errno,req.count);
!       return(false);
!     }
!   
!     printf("mmapable buffers count : %i\n",req.count);
! 
! 
!     //initialize memory map for each image buffer
!     for(i=0; i<req.count; i++){
! 
!       vimage[i].vidbuf.index = i;
!       vimage[i].vidbuf.type = req.type;
! 
!       if(EINVAL == ioctl(vid_fd, VIDIOC_QUERYBUF, &vimage[i].vidbuf)) {
! 	perror("VIDIOC_QUERYBUF");
! 	return(false);
!       }
! 
!       //map memory
!       vimage[i].data = (char*)mmap(NULL, 
! 				   vimage[i].vidbuf.length, 
! 				   PROT_READ | PROT_WRITE,
! 				   MAP_SHARED, 
! 				   vid_fd, 
! 				   vimage[i].vidbuf.m.offset);
! 
!       if((int)vimage[i].data == -1){
! 	perror("mmap error : ");
! 	return(false);
!       }
!     }
! 
!     //queue buffers
!     for(i=0; i<req.count; i++){
!       if((err = ioctl(vid_fd, VIDIOC_QBUF, &vimage[i].vidbuf))){
! 	perror("QBUF error");
! 	return(false);
!       }
!     }
! 
!     // Turn on streaming capture
!     if (EINVAL == ioctl(vid_fd, VIDIOC_STREAMON, &vimage[0].vidbuf.type)) {
!       perror("VIDIOC_STREAMON");
!       return(false);
!     }
!   }
! 
!   width   = nwidth;
!   height  = nheight;
!   current = NULL;
! 
!   return(true);
! }
! 
! void capture::close()
! {
!   int i,t;
! 
!   if(vid_fd >= 0){
!     t = V4L2_BUF_TYPE_VIDEO_CAPTURE;
!     ioctl(vid_fd, VIDIOC_STREAMOFF, &t);
! 
!     for(i=0; i<STREAMBUFS; i++){
!       if(vimage[i].data){
!         munmap(vimage[i].data,vimage[i].vidbuf.length);
!       }
!     }
!   }
! }
! 
! 
! unsigned char *capture::captureFrame(int &index,int &field)
! {
!   //if(captured_frame){
!   //  printf("there may be a problem capturing frame w/o releasing previous frame");
!   //}
!   // struct v4l2_buffer tempbuf;
!   int err;
! 
!   fd_set          rdset;
!   struct timeval  timeout;
!   int		  n;
!   struct v4l2_buffer tempbuf;
! 
!   FD_ZERO(&rdset);
!   FD_SET(vid_fd, &rdset);
!   timeout.tv_sec = 1;
!   timeout.tv_usec = 0;
!   n = select(vid_fd + 1, &rdset, NULL, NULL, &timeout);
!   err = -1;
!   if (n == -1) {
!     fprintf(stderr, "select error.\n");
!     perror("select msg:");
!   }
!   else if (n == 0)
!     fprintf(stderr, "select timeout\n");
!   else if (FD_ISSET(vid_fd, &rdset))
!     err = 0;
!   if(err) return(NULL);
! 
!   // Grab last frame
!   do {
!     //printf("D");
!     tempbuf.type = vimage[0].vidbuf.type;
!     err = ioctl(vid_fd, VIDIOC_DQBUF, &tempbuf);
!     if(err) {
!       printf("4DQBUF returned error %d\n",errno);
!       perror("DQBUF error:");
!     }
! 
!     //printf("S");
!     FD_ZERO(&rdset);
!     FD_SET(vid_fd, &rdset);
!     timeout.tv_sec = 0;
!     timeout.tv_usec = 0;
!     n = select(vid_fd + 1, &rdset, NULL, NULL, &timeout);
!     // Uncomment this next line to see how many frames are being skipped.
!     // 1=frame skipped, 0=frame used
!     //printf("n%d",n);
!     if(n==-1) {
!       fprintf(stderr, "select error.\n");
!       perror("2select msg:");
!     }
!     else if(n==0) {
!       break;
!     }
! 
!     if (!FD_ISSET(vid_fd, &rdset))
!       printf("huh\n");
! 
!     //printf("Q");
!     err = ioctl(vid_fd, VIDIOC_QBUF, &tempbuf);
!     if(err) {
!       printf("3QBUF returned error %d\n",errno);
!       perror("QBUF error:");
!     }
!   } while(true);
! 
!   field = 0;
! 
!   if(tempbuf.flags & V4L2_FIELD_TOP) field = 1;
!   if(tempbuf.flags & V4L2_FIELD_BOTTOM) field = 0;
! 
!   // Set current to point to captured frame data
!   current = (unsigned char *)vimage[tempbuf.index].data;
!   ///timestamp = tempbuf.timestamp;
!   index = tempbuf.index;
! 
!   //cerr<<"grab index : "<<index<<endl;
! 
!   // gettimeofday(&timeout,NULL);
!   // timestamp = (stamp_t)((timeout.tv_sec + timeout.tv_usec/1.0E6) * 1.0E9);
!   // printf("field: %d\n",field);
! 
!   // Initiate the next capture
!   //tempbuf.index = (++index - 1) % STREAMBUFS;
!   //err = ioctl(vid_fd, VIDIOC_QBUF, &tempbuf);
!   //if(err) printf("QBUF returned error %d\n",errno);  
! 
!   captured_frame = true;
!   return(current);
! }
! 
! void capture::releaseFrame(unsigned char* frame, int index)
! {
!   int err;
!   struct v4l2_buffer tempbuf;
!   //if(frame != current){
!   //  printf("frame != current, possibly releasing the wrong frame.");
!   //}
!   captured_frame = false;
!   // Initiate the next capture
!   tempbuf.type = vimage[0].vidbuf.type;
!   tempbuf.index=index;
!   //printf("%lx %d\n",tempbuf.type,tempbuf.index);
!   err = ioctl(vid_fd, VIDIOC_QBUF, &tempbuf);
!   if(err) {
!     printf("2QBUF returned error %d\n",errno);
!     perror("QBUF error:");
!   }
! }
! 
! struct v4l2_buffer tempbuf;
! 
! unsigned char *capture::captureFrame()
! {
!   // struct v4l2_buffer tempbuf;
!   int err;
! 
!   fd_set          rdset;
!   struct timeval  timeout;
!   int		  n;
! 
!   FD_ZERO(&rdset);
!   FD_SET(vid_fd, &rdset);
!   timeout.tv_sec = 1;
!   timeout.tv_usec = 0;
!   n = select(vid_fd + 1, &rdset, NULL, NULL, &timeout);
!   err = -1;
!   if (n == -1)
!     fprintf(stderr, "select error.\n");
!   else if (n == 0)
!     fprintf(stderr, "select timeout\n");
!   else if (FD_ISSET(vid_fd, &rdset))
!     err = 0;
!   if(err) return(NULL);
! 
!   // Grab last frame
!   tempbuf.type = vimage[0].vidbuf.type;
!   err = ioctl(vid_fd, VIDIOC_DQBUF, &tempbuf);
!   if(err) printf("DQBUF returned error %d\n",errno);
! 
!   // Set current to point to captured frame data
!   //cerr<<"Grab index : "<<tempbuf.index<<endl;
! 
!   current = (unsigned char *)vimage[tempbuf.index].data;
!   //timestamp = tempbuf.timestamp;
! 
!   // Initiate the next capture
!   err = ioctl(vid_fd, VIDIOC_QBUF, &tempbuf);
!   if(err) printf("QBUF returned error %d\n",errno);
! 
!   return(current);
! }
  
  bool capture::set_auto_white_balance(bool white_balance) {
--- 222,226 ----
  }//namespace RobotFlow
  
! /*
  
  bool capture::set_auto_white_balance(bool white_balance) {
***************
*** 738,739 ****
--- 308,311 ----
  }
  
+ */
+