nuttx-apps/examples/camera/camera_main.c

/****************************************************************************
 * apps/examples/camera/camera_main.c
 *
 * Licensed to the Apache Software Foundation (ASF) under one or more
 * contributor license agreements.  See the NOTICE file distributed with
 * this work for additional information regarding copyright ownership.  The
 * ASF licenses this file to you under the Apache License, Version 2.0 (the
 * "License"); you may not use this file except in compliance with the
 * License.  You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
 * License for the specific language governing permissions and limitations
 * under the License.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <errno.h>
#include <fcntl.h>
#include <sys/time.h>
#include <sys/ioctl.h>
#include <time.h>
#include <unistd.h>

#include <nuttx/video/video.h>

#include "camera_fileutil.h"
#include "camera_bkgd.h"

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

#define IMAGE_JPG_SIZE     (512*1024)  /* 512kB for FullHD Jpeg file. */
#define IMAGE_RGB_SIZE     (320*240*2) /* QVGA RGB565 */

#define VIDEO_BUFNUM       (3)
#define STILL_BUFNUM       (1)

#define MAX_CAPTURE_NUM     (100)
#define DEFAULT_CAPTURE_NUM (10)

#define START_CAPTURE_TIME  (5)   /* seconds */
#define KEEP_VIDEO_TIME     (10)  /* seconds */

#define APP_STATE_BEFORE_CAPTURE  (0)
#define APP_STATE_UNDER_CAPTURE   (1)
#define APP_STATE_AFTER_CAPTURE   (2)

/****************************************************************************
 * Private Types
 ****************************************************************************/

struct v_buffer
{
  FAR uint32_t *start;
  uint32_t length;
};

typedef struct v_buffer v_buffer_t;

/****************************************************************************
 * Private Function Prototypes
 ****************************************************************************/

static int camera_prepare(int fd, enum v4l2_buf_type type,
                          uint32_t buf_mode, uint32_t pixformat,
                          uint16_t hsize, uint16_t vsize,
                          FAR struct v_buffer **vbuf,
                          uint8_t buffernum, int buffersize);
static void free_buffer(FAR struct v_buffer *buffers, uint8_t bufnum);
static int parse_arguments(int argc, FAR char *argv[],
                           FAR int *capture_num,
                           FAR enum v4l2_buf_type *type);
static int get_camimage(int fd, FAR struct v4l2_buffer *v4l2_buf,
                        enum v4l2_buf_type buf_type);
static int release_camimage(int fd, FAR struct v4l2_buffer *v4l2_buf);
static int start_stillcapture(int v_fd, enum v4l2_buf_type capture_type);
static int stop_stillcapture(int v_fd, enum v4l2_buf_type capture_type);

/****************************************************************************
 * Private Data
 ****************************************************************************/

/****************************************************************************
 * Public Data
 ****************************************************************************/

/****************************************************************************
 * Private Functions
 ****************************************************************************/

/****************************************************************************
 * Name: camera_prepare()
 *
 * Description:
 *   Allocate frame buffer for camera and queue the allocated buffer
 *   into video driver.
 ****************************************************************************/

static int camera_prepare(int fd, enum v4l2_buf_type type,
                          uint32_t buf_mode, uint32_t pixformat,
                          uint16_t hsize, uint16_t vsize,
                          FAR struct v_buffer **vbuf,
                          uint8_t buffernum, int buffersize)
{
  int ret;
  int cnt;
  struct v4l2_format fmt =
  {
    0
  };

  struct v4l2_requestbuffers req =
  {
    0
  };

  struct v4l2_buffer buf =
  {
    0
  };

  /* VIDIOC_S_FMT set format */

  fmt.type                = type;
  fmt.fmt.pix.width       = hsize;
  fmt.fmt.pix.height      = vsize;
  fmt.fmt.pix.field       = V4L2_FIELD_ANY;
  fmt.fmt.pix.pixelformat = pixformat;

  ret = ioctl(fd, VIDIOC_S_FMT, (uintptr_t)&fmt);
  if (ret < 0)
    {
      printf("Failed to VIDIOC_S_FMT: errno = %d\n", errno);
      return ret;
    }

  /* VIDIOC_REQBUFS initiate user pointer I/O */

  req.type   = type;
  req.memory = V4L2_MEMORY_USERPTR;
  req.count  = buffernum;
  req.mode   = buf_mode;

  ret = ioctl(fd, VIDIOC_REQBUFS, (uintptr_t)&req);
  if (ret < 0)
    {
      printf("Failed to VIDIOC_REQBUFS: errno = %d\n", errno);
      return ret;
    }

  /* Prepare video memory to store images */

  *vbuf = malloc(sizeof(v_buffer_t) * buffernum);
  if (!(*vbuf))
    {
      printf("Out of memory for array of v_buffer_t[%d]\n", buffernum);
      return ERROR;
    }

  for (cnt = 0; cnt < buffernum; cnt++)
    {
      (*vbuf)[cnt].length = buffersize;

      /* Note:
       * VIDIOC_QBUF set buffer pointer.
       * Buffer pointer must be 32bytes aligned.
       */

      (*vbuf)[cnt].start = memalign(32, buffersize);
      if (!(*vbuf)[cnt].start)
        {
          printf("Out of memory for image buffer of %d/%d\n",
                 cnt, buffernum);

          /* Release allocated memory. */

          while (cnt--)
            {
              free((*vbuf)[cnt].start);
            }

          free(*vbuf);
          *vbuf = NULL;
          return ERROR;
        }
    }

  /* VIDIOC_QBUF enqueue buffer */

  for (cnt = 0; cnt < buffernum; cnt++)
    {
      memset(&buf, 0, sizeof(v4l2_buffer_t));
      buf.type = type;
      buf.memory = V4L2_MEMORY_USERPTR;
      buf.index = cnt;
      buf.m.userptr = (uintptr_t)(*vbuf)[cnt].start;
      buf.length = (*vbuf)[cnt].length;

      ret = ioctl(fd, VIDIOC_QBUF, (uintptr_t)&buf);
      if (ret)
        {
          printf("Fail QBUF %d\n", errno);
          free_buffer(*vbuf, buffernum);
          *vbuf = NULL;
          return ERROR;
        }
    }

  /* VIDIOC_STREAMON start stream */

  ret = ioctl(fd, VIDIOC_STREAMON, (uintptr_t)&type);
  if (ret < 0)
    {
      printf("Failed to VIDIOC_STREAMON: errno = %d\n", errno);
      free_buffer(*vbuf, buffernum);
      *vbuf = NULL;
      return ret;
    }

  return OK;
}

/****************************************************************************
 * Name: free_buffer()
 *
 * Description:
 *   All free allocated memory of v_buffer.
 ****************************************************************************/

static void free_buffer(FAR struct v_buffer *buffers, uint8_t bufnum)
{
  uint8_t cnt;
  if (buffers)
    {
      for (cnt = 0; cnt < bufnum; cnt++)
        {
          if (buffers[cnt].start)
            {
              free(buffers[cnt].start);
            }
        }

      free(buffers);
    }
}

/****************************************************************************
 * Name: parse_argument()
 *
 * Description:
 *   Parse and decode commandline arguments.
 ****************************************************************************/

static int parse_arguments(int argc, FAR char *argv[],
                           FAR int *capture_num,
                           FAR enum v4l2_buf_type *type)
{
  if (argc == 1)
    {
      *capture_num = DEFAULT_CAPTURE_NUM;
      *type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    }
  else if (argc == 2)
    {
      if (strncmp(argv[1], "-jpg", 5) == 0)
        {
          *capture_num = DEFAULT_CAPTURE_NUM;
          *type = V4L2_BUF_TYPE_STILL_CAPTURE;
        }
      else
        {
          *capture_num = atoi(argv[1]);
          if (*capture_num < 0 || *capture_num > MAX_CAPTURE_NUM)
            {
              printf("Invalid capture num(%d). must be >=0 and <=%d\n",
                    *capture_num, MAX_CAPTURE_NUM);
              return ERROR;
            }

          *type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        }
    }
  else if (argc == 3)
    {
      if (strncmp(argv[1], "-jpg", 5) == 0)
        {
          *capture_num = atoi(argv[2]);
          if (*capture_num < 0 || *capture_num > MAX_CAPTURE_NUM)
            {
              printf("Invalid capture num(%d). must be >=0 and <=%d\n",
                    *capture_num, MAX_CAPTURE_NUM);
              return ERROR;
            }

          *type = V4L2_BUF_TYPE_STILL_CAPTURE;
        }
      else
        {
          printf("Invalid argument 1 : %s\n", argv[1]);
          return ERROR;
        }
    }
  else
    {
      printf("Too many arguments\n");
      return ERROR;
    }

  return OK;
}

/****************************************************************************
 * Name: get_camimage()
 *
 * Description:
 *   DQBUF camera frame buffer from video driver with taken picture data.
 ****************************************************************************/

static int get_camimage(int fd, FAR struct v4l2_buffer *v4l2_buf,
                        enum v4l2_buf_type buf_type)
{
  int ret;

  /* VIDIOC_DQBUF acquires captured data. */

  memset(v4l2_buf, 0, sizeof(v4l2_buffer_t));
  v4l2_buf->type = buf_type;
  v4l2_buf->memory = V4L2_MEMORY_USERPTR;

  ret = ioctl(fd, VIDIOC_DQBUF, (uintptr_t)v4l2_buf);
  if (ret)
    {
      printf("Fail DQBUF %d\n", errno);
      return ERROR;
    }

  return OK;
}

/****************************************************************************
 * Name: release_camimage()
 *
 * Description:
 *   Re-QBUF to set used frame buffer into video driver.
 ****************************************************************************/

static int release_camimage(int fd, FAR struct v4l2_buffer *v4l2_buf)
{
  int ret;

  /* VIDIOC_QBUF sets buffer pointer into video driver again. */

  ret = ioctl(fd, VIDIOC_QBUF, (uintptr_t)v4l2_buf);
  if (ret)
    {
      printf("Fail QBUF %d\n", errno);
      return ERROR;
    }

  return OK;
}

/****************************************************************************
 * Name: start_stillcapture()
 *
 * Description:
 *   Start STILL capture stream by TAKEPICT_START if buf_type is
 *   STILL_CAPTURE.
 ****************************************************************************/

static int start_stillcapture(int v_fd, enum v4l2_buf_type capture_type)
{
  int ret;

  if (capture_type == V4L2_BUF_TYPE_STILL_CAPTURE)
    {
      ret = ioctl(v_fd, VIDIOC_TAKEPICT_START, 0);
      if (ret < 0)
        {
          printf("Failed to start taking picture\n");
          return ERROR;
        }
    }

  return OK;
}

/****************************************************************************
 * Name: stop_stillcapture()
 *
 * Description:
 *   Stop STILL capture stream by TAKEPICT_STOP if buf_type is STILL_CAPTURE.
 ****************************************************************************/

static int stop_stillcapture(int v_fd, enum v4l2_buf_type capture_type)
{
  int ret;

  if (capture_type == V4L2_BUF_TYPE_STILL_CAPTURE)
    {
      ret = ioctl(v_fd, VIDIOC_TAKEPICT_STOP, false);
      if (ret < 0)
        {
          printf("Failed to stop taking picture\n");
          return ERROR;
        }
    }

  return OK;
}

/****************************************************************************
 * Name: get_imgsensor_name()
 *
 * Description:
 *   Get image sensor driver name by querying device capabilities.
 ****************************************************************************/

static FAR const char *get_imgsensor_name(int fd)
{
  static struct v4l2_capability cap;

  ioctl(fd, VIDIOC_QUERYCAP, (uintptr_t)&cap);

  return (FAR const char *)cap.driver;
}

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: main()
 *
 * Description:
 *   main routine of this example.
 ****************************************************************************/

int main(int argc, FAR char *argv[])
{
  int ret;
  int v_fd;
  int capture_num = DEFAULT_CAPTURE_NUM;
  enum v4l2_buf_type capture_type = V4L2_BUF_TYPE_STILL_CAPTURE;
  struct v4l2_buffer v4l2_buf;
  FAR const char *save_dir;
  FAR const char *sensor;
  uint16_t w;
  uint16_t h;
  int is_eternal;
  int app_state;

  struct timeval start;
  struct timeval now;
  struct timeval delta;
  struct timeval wait;

  FAR struct v_buffer *buffers_video = NULL;
  FAR struct v_buffer *buffers_still = NULL;

  /* =====  Parse and Check arguments  ===== */

  ret = parse_arguments(argc, argv, &capture_num, &capture_type);
  if (ret != OK)
    {
      printf("usage: %s ([-jpg]) ([capture num])\n", argv[0]);
      return ERROR;
    }

  /* =====  Initialization Code  ===== */

  /* Initialize NX graphics subsystem to use LCD */

#ifdef CONFIG_EXAMPLES_CAMERA_OUTPUT_LCD
  ret = nximage_initialize();
  if (ret < 0)
    {
      printf("camera_main: Failed to get NX handle: %d\n", errno);
      return ERROR;
    }
#endif

  /* Select storage to save image files */

  save_dir = futil_initialize();

  /* Initialize video driver to create a device file */

  ret = video_initialize("/dev/video");
  if (ret != 0)
    {
      printf("ERROR: Failed to initialize video: errno = %d\n", errno);
      goto exit_without_cleaning_videodriver;
    }

  /* Open the device file. */

  v_fd = open("/dev/video", 0);
  if (v_fd < 0)
    {
      printf("ERROR: Failed to open video.errno = %d\n", errno);
      ret = ERROR;
      goto exit_without_cleaning_buffer;
    }

  /* Prepare for STILL_CAPTURE stream.
   *
   * The video buffer mode is V4L2_BUF_MODE_FIFO mode.
   * In this FIFO mode, if all VIDIOC_QBUFed frame buffers are captured image
   * and no additional frame buffers are VIDIOC_QBUFed, the capture stops and
   * waits for new VIDIOC_QBUFed frame buffer.
   * And when new VIDIOC_QBUF is executed, the capturing is resumed.
   *
   * Allocate frame buffers for JPEG size (512KB).
   * Set FULLHD size in ISX012 case, QUADVGA size in ISX019 case or other
   * image sensors,
   * Number of frame buffers is defined as STILL_BUFNUM(1).
   * And all allocated memorys are VIDIOC_QBUFed.
   */

  if (capture_num != 0)
    {
      /* Determine image size from connected image sensor name,
       * because video driver does not support VIDIOC_ENUM_FRAMESIZES
       * for now.
       */

      sensor = get_imgsensor_name(v_fd);
      if (strncmp(sensor, "ISX012", strlen("ISX012")) == 0)
        {
          w = VIDEO_HSIZE_FULLHD;
          h = VIDEO_VSIZE_FULLHD;
        }
      else if (strncmp(sensor, "ISX019", strlen("ISX019")) == 0)
        {
          w = VIDEO_HSIZE_QUADVGA;
          h = VIDEO_VSIZE_QUADVGA;
        }
      else
        {
          w = VIDEO_HSIZE_QUADVGA;
          h = VIDEO_VSIZE_QUADVGA;
        }

      ret = camera_prepare(v_fd, V4L2_BUF_TYPE_STILL_CAPTURE,
                           V4L2_BUF_MODE_FIFO, V4L2_PIX_FMT_JPEG,
                           w, h,
                           &buffers_still, STILL_BUFNUM, IMAGE_JPG_SIZE);
      if (ret != OK)
        {
          goto exit_this_app;
        }
    }

  /* Prepare for VIDEO_CAPTURE stream.
   *
   * The video buffer mode is V4L2_BUF_MODE_RING mode.
   * In this RING mode, if all VIDIOC_QBUFed frame buffers are captured image
   * and no additional frame buffers are VIDIOC_QBUFed, the capture continues
   * as the oldest image in the V4L2_BUF_QBUFed frame buffer is reused in
   * order from the captured frame buffer and a new camera image is
   * recaptured.
   *
   * Allocate freame buffers for QVGA RGB565 size (320x240x2=150KB).
   * Number of frame buffers is defined as VIDEO_BUFNUM(3).
   * And all allocated memorys are VIDIOC_QBUFed.
   */

  ret = camera_prepare(v_fd, V4L2_BUF_TYPE_VIDEO_CAPTURE,
                       V4L2_BUF_MODE_RING, V4L2_PIX_FMT_RGB565,
                       VIDEO_HSIZE_QVGA, VIDEO_VSIZE_QVGA,
                       &buffers_video, VIDEO_BUFNUM, IMAGE_RGB_SIZE);
  if (ret != OK)
    {
      goto exit_this_app;
    }

  /* This application has 3 states.
   *
   * APP_STATE_BEFORE_CAPTURE:
   *    This state waits 5 seconds (defined as START_CAPTURE_TIME)
   *    with displaying preview (VIDEO_CAPTURE stream image) on LCD.
   *    After 5 seconds, state will be changed to APP_STATE_UNDER_CAPTURE.
   *
   * APP_STATE_UNDER_CAPTURE:
   *    This state will start taking picture and store the image into files.
   *    Number of taking pictures is set capture_num valiable.
   *    It can be changed by command line argument.
   *    After finishing taking pictures, the state will be changed to
   *    APP_STATE_AFTER_CAPTURE.
   *
   * APP_STATE_AFTER_CAPTURE:
   *    This state waits 10 seconds (defined as KEEP_VIDEO_TIME)
   *    with displaying preview (VIDEO_CAPTURE stream image) on LCD.
   *    After 10 seconds, this application will be finished.
   *
   * Notice:
   *    If capture_num is set '0', state will stay APP_STATE_BEFORE_CAPTURE.
   */

  app_state = APP_STATE_BEFORE_CAPTURE;

  /* Show this application behavior. */

  if (capture_num == 0)
    {
      is_eternal = 1;
      printf("Start video this mode is eternal."
             " (Non stop, non save files.)\n");
#ifndef CONFIG_EXAMPLES_CAMERA_OUTPUT_LCD
      printf("This mode should be run with LCD display\n");
#endif
    }
  else
    {
      is_eternal = 0;
      wait.tv_sec = START_CAPTURE_TIME;
      wait.tv_usec = 0;
      printf("Take %d pictures as %s file in %s after %d seconds.\n",
             capture_num,
             capture_type == V4L2_BUF_TYPE_STILL_CAPTURE ? "JPEG" : "RGB",
             save_dir, START_CAPTURE_TIME);
      printf(" After finishing taking pictures,"
             " this app will be finished after %d seconds.\n",
              KEEP_VIDEO_TIME);
    }

  gettimeofday(&start, NULL);

  /* =====  Main Loop  ===== */

  while (1)
    {
      switch (app_state)
        {
          /* BEFORE_CAPTURE and AFTER_CAPTURE is waiting for expiring the
           * time.
           * In the meantime, Capturing VIDEO image to show pre-view on LCD.
           */

          case APP_STATE_BEFORE_CAPTURE:
          case APP_STATE_AFTER_CAPTURE:
            ret = get_camimage(v_fd, &v4l2_buf, V4L2_BUF_TYPE_VIDEO_CAPTURE);
            if (ret != OK)
              {
                goto exit_this_app;
              }

#ifdef CONFIG_EXAMPLES_CAMERA_OUTPUT_LCD
            nximage_draw((FAR void *)v4l2_buf.m.userptr,
                         VIDEO_HSIZE_QVGA, VIDEO_VSIZE_QVGA);
#endif

            ret = release_camimage(v_fd, &v4l2_buf);
            if (ret != OK)
              {
                goto exit_this_app;
              }

            if (!is_eternal)
              {
                gettimeofday(&now, NULL);
                timersub(&now, &start, &delta);
                if (timercmp(&delta, &wait, >))
                  {
                    printf("Expire time is pasted. GoTo next state.\n");
                    if (app_state == APP_STATE_BEFORE_CAPTURE)
                      {
                        app_state = APP_STATE_UNDER_CAPTURE;
                      }
                    else
                      {
                        ret = OK;
                        goto exit_this_app;
                      }
                  }
              }

            break; /* Finish APP_STATE_BEFORE_CAPTURE or APP_STATE_AFTER_CAPTURE */

          /* UNDER_CAPTURE is taking pictures until number of capture_num
           * value.
           * This state stays until finishing all pictures.
           */

          case APP_STATE_UNDER_CAPTURE:
            printf("Start capturing...\n");
            ret = start_stillcapture(v_fd, capture_type);
            if (ret != OK)
              {
                goto exit_this_app;
              }

            while (capture_num)
              {
                ret = get_camimage(v_fd, &v4l2_buf, capture_type);
                if (ret != OK)
                  {
                    goto exit_this_app;
                  }

                futil_writeimage(
                  (FAR uint8_t *)v4l2_buf.m.userptr,
                  (size_t)v4l2_buf.bytesused,
                  capture_type == V4L2_BUF_TYPE_VIDEO_CAPTURE ?
                  "RGB" : "JPG");

                ret = release_camimage(v_fd, &v4l2_buf);
                if (ret != OK)
                  {
                    goto exit_this_app;
                  }

                capture_num--;
              }

            ret = stop_stillcapture(v_fd, capture_type);
            if (ret != OK)
              {
                goto exit_this_app;
              }

            app_state = APP_STATE_AFTER_CAPTURE;
            wait.tv_sec = KEEP_VIDEO_TIME;
            wait.tv_usec = 0;
            gettimeofday(&start, NULL);
            printf("Finished capturing...\n");
            break; /* Finish APP_STATE_UNDER_CAPTURE */

          default:
            printf("Unknown error is occurred.. state=%d\n", app_state);
            goto exit_this_app;
            break;
        }
    }

exit_this_app:

  /* Close video device file makes dequeue all buffers */

  close(v_fd);

  free_buffer(buffers_video, VIDEO_BUFNUM);
  free_buffer(buffers_still, STILL_BUFNUM);

exit_without_cleaning_buffer:
  video_uninitialize();

exit_without_cleaning_videodriver:
#ifdef CONFIG_EXAMPLES_CAMERA_OUTPUT_LCD
  nximage_finalize();
#endif
  return ret;
}