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hyperion.ng/libsrc/grabber/video/v4l2/V4L2Grabber.cpp

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#include <iostream>
#include <sstream>
#include <stdexcept>
#include <cstdio>
#include <cassert>
#include <cstdlib>
#include <cstring>
#include <sstream>
#include <fcntl.h>
#include <unistd.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/mman.h>
#include <sys/ioctl.h>
#include <linux/videodev2.h>
#include <hyperion/Hyperion.h>
#include <hyperion/HyperionIManager.h>
#include <QDirIterator>
#include <QFileInfo>
#include <QSet>
#include "grabber/V4L2Grabber.h"
#define CLEAR(x) memset(&(x), 0, sizeof(x))
#ifndef V4L2_CAP_META_CAPTURE
#define V4L2_CAP_META_CAPTURE 0x00800000 // Specified in kernel header v4.16. Required for backward compatibility.
#endif
// Constants
namespace { const bool verbose = false; }
// Need more video properties? Visit https://www.kernel.org/doc/html/v4.14/media/uapi/v4l/control.html
using ControlIDPropertyMap = QMap<unsigned int, QString>;
inline QMap<unsigned int, QString> initControlIDPropertyMap()
{
QMap<unsigned int, QString> propertyMap
{
{V4L2_CID_BRIGHTNESS , "brightness" },
{V4L2_CID_CONTRAST , "contrast" },
{V4L2_CID_SATURATION , "saturation" },
{V4L2_CID_HUE , "hue" }
};
return propertyMap;
};
Q_GLOBAL_STATIC_WITH_ARGS(ControlIDPropertyMap, _controlIDPropertyMap, (initControlIDPropertyMap()));
static PixelFormat GetPixelFormat(const unsigned int format)
{
if (format == V4L2_PIX_FMT_RGB32) return PixelFormat::RGB32;
if (format == V4L2_PIX_FMT_RGB24) return PixelFormat::BGR24;
if (format == V4L2_PIX_FMT_YUYV) return PixelFormat::YUYV;
if (format == V4L2_PIX_FMT_UYVY) return PixelFormat::UYVY;
if (format == V4L2_PIX_FMT_NV12) return PixelFormat::NV12;
if (format == V4L2_PIX_FMT_YUV420) return PixelFormat::I420;
#ifdef HAVE_TURBO_JPEG
if (format == V4L2_PIX_FMT_MJPEG) return PixelFormat::MJPEG;
#endif
return PixelFormat::NO_CHANGE;
};
V4L2Grabber::V4L2Grabber()
: Grabber("V4L2")
, _currentDevicePath("none")
, _currentDeviceName("none")
, _threadManager(nullptr)
, _ioMethod(IO_METHOD_MMAP)
, _fileDescriptor(-1)
, _pixelFormat(PixelFormat::NO_CHANGE)
, _pixelFormatConfig(PixelFormat::NO_CHANGE)
, _lineLength(-1)
, _frameByteSize(-1)
, _currentFrame(0)
, _noSignalCounterThreshold(40)
, _noSignalThresholdColor(ColorRgb{0,0,0})
, _cecDetectionEnabled(true)
, _cecStandbyActivated(false)
, _signalDetectionEnabled(true)
, _noSignalDetected(false)
, _noSignalCounter(0)
, _brightness(0)
, _contrast(0)
, _saturation(0)
, _hue(0)
, _x_frac_min(0.25)
, _y_frac_min(0.25)
, _x_frac_max(0.75)
, _y_frac_max(0.75)
, _streamNotifier(nullptr)
, _initialized(false)
, _reload(false)
{
}
V4L2Grabber::~V4L2Grabber()
{
uninit();
if (_threadManager)
delete _threadManager;
_threadManager = nullptr;
}
bool V4L2Grabber::prepare()
{
if (!_threadManager)
_threadManager = new EncoderThreadManager(this);
return (_threadManager != nullptr);
}
void V4L2Grabber::uninit()
{
// stop if the grabber was not stopped
if (_initialized)
{
Debug(_log,"Uninit grabber: %s (%s)", QSTRING_CSTR(_currentDeviceName), QSTRING_CSTR(_currentDevicePath));
stop();
}
}
bool V4L2Grabber::init()
{
if (!_initialized)
{
bool noDevicePath = _currentDevicePath.compare("none", Qt::CaseInsensitive) == 0 || _currentDevicePath.compare("auto", Qt::CaseInsensitive) == 0;
// enumerate the video capture devices on the user's system
enumVideoCaptureDevices();
if(noDevicePath)
return false;
if(!_deviceProperties.contains(_currentDevicePath))
{
Debug(_log, "Configured device at '%s' is not available.", QSTRING_CSTR(_currentDevicePath));
_currentDevicePath = "none";
return false;
}
else
{
if (HyperionIManager::getInstance())
if (_currentDeviceName.compare("none", Qt::CaseInsensitive) == 0 || _currentDeviceName != _deviceProperties.value(_currentDevicePath).name)
return false;
Debug(_log, "Set device (path) to: %s (%s)", QSTRING_CSTR(_deviceProperties.value(_currentDevicePath).name), QSTRING_CSTR(_currentDevicePath));
}
// correct invalid parameters
QMap<int, DeviceProperties::InputProperties>::const_iterator inputIterator = _deviceProperties.value(_currentDevicePath).inputs.find(_input);
if (inputIterator == _deviceProperties.value(_currentDevicePath).inputs.end())
setInput(_deviceProperties.value(_currentDevicePath).inputs.firstKey());
QMultiMap<PixelFormat, DeviceProperties::InputProperties::EncodingProperties>::const_iterator encodingIterator = _deviceProperties.value(_currentDevicePath).inputs.value(_input).encodingFormats.find(_pixelFormat);
if (encodingIterator == _deviceProperties.value(_currentDevicePath).inputs.value(_input).encodingFormats.end())
setEncoding(pixelFormatToString(_deviceProperties.value(_currentDevicePath).inputs.value(_input).encodingFormats.firstKey()));
bool validDimensions = false;
for (auto enc = _deviceProperties.value(_currentDevicePath).inputs.value(_input).encodingFormats.constBegin(); enc != _deviceProperties.value(_currentDevicePath).inputs.value(_input).encodingFormats.constEnd(); ++enc)
if(enc.key() == _pixelFormat && enc.value().width == _width && enc.value().height == _height)
{
validDimensions = true;
break;
}
if (!validDimensions)
setWidthHeight(_deviceProperties.value(_currentDevicePath).inputs.value(_input).encodingFormats.first().width, _deviceProperties.value(_currentDevicePath).inputs.value(_input).encodingFormats.first().height);
QList<int> availableframerates = _deviceProperties.value(_currentDevicePath).inputs.value(_input).encodingFormats.value(_pixelFormat).framerates;
if (!availableframerates.isEmpty() && !availableframerates.contains(_fps))
setFramerate(_deviceProperties.value(_currentDevicePath).inputs.value(_input).encodingFormats.value(_pixelFormat).framerates.first());
bool opened = false;
try
{
if (open_device())
{
opened = true;
init_device(_videoStandard);
_initialized = true;
}
}
catch(std::exception& e)
{
if (opened)
{
uninit_device();
close_device();
}
Error(_log, "V4l2 init failed (%s)", e.what());
}
}
return _initialized;
}
bool V4L2Grabber::start()
{
try
{
if (init() && _streamNotifier != nullptr && !_streamNotifier->isEnabled())
{
connect(_threadManager, &EncoderThreadManager::newFrame, this, &V4L2Grabber::newThreadFrame);
_threadManager->start();
DebugIf(verbose, _log, "Decoding threads: %u", _threadManager->_threadCount);
_streamNotifier->setEnabled(true);
start_capturing();
Info(_log, "Started");
return true;
}
}
catch(std::exception& e)
{
Error(_log, "start failed (%s)", e.what());
}
return false;
}
void V4L2Grabber::stop()
{
if (_streamNotifier != nullptr && _streamNotifier->isEnabled())
{
_initialized = false;
_threadManager->stop();
disconnect(_threadManager, nullptr, nullptr, nullptr);
stop_capturing();
_streamNotifier->setEnabled(false);
uninit_device();
close_device();
_deviceProperties.clear();
_deviceControls.clear();
Info(_log, "Stopped");
}
}
bool V4L2Grabber::open_device()
{
struct stat st;
if (-1 == stat(QSTRING_CSTR(_currentDevicePath), &st))
{
throw_errno_exception("Cannot identify '" + _currentDevicePath + "'");
return false;
}
if (!S_ISCHR(st.st_mode))
{
throw_exception("'" + _currentDevicePath + "' is no device");
return false;
}
_fileDescriptor = open(QSTRING_CSTR(_currentDevicePath), O_RDWR | O_NONBLOCK, 0);
if (-1 == _fileDescriptor)
{
throw_errno_exception("Cannot open '" + _currentDevicePath + "'");
return false;
}
// create the notifier for when a new frame is available
_streamNotifier = new QSocketNotifier(_fileDescriptor, QSocketNotifier::Read);
_streamNotifier->setEnabled(false);
connect(_streamNotifier, &QSocketNotifier::activated, this, &V4L2Grabber::read_frame);
return true;
}
void V4L2Grabber::close_device()
{
if (-1 == close(_fileDescriptor))
{
throw_errno_exception("close");
return;
}
_fileDescriptor = -1;
delete _streamNotifier;
_streamNotifier = nullptr;
}
void V4L2Grabber::init_read(unsigned int buffer_size)
{
_buffers.resize(1);
_buffers[0].length = buffer_size;
_buffers[0].start = malloc(buffer_size);
if (!_buffers[0].start)
{
throw_exception("Out of memory");
return;
}
}
void V4L2Grabber::init_mmap()
{
struct v4l2_requestbuffers req;
CLEAR(req);
req.count = 4;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
if (-1 == xioctl(VIDIOC_REQBUFS, &req))
{
if (EINVAL == errno)
{
throw_exception("'" + _currentDevicePath + "' does not support memory mapping");
return;
}
else
{
throw_errno_exception("VIDIOC_REQBUFS");
return;
}
}
if (req.count < 2)
{
throw_exception("Insufficient buffer memory on " + _currentDevicePath);
return;
}
_buffers.resize(req.count);
for (size_t n_buffers = 0; n_buffers < req.count; ++n_buffers)
{
struct v4l2_buffer buf;
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = n_buffers;
if (-1 == xioctl(VIDIOC_QUERYBUF, &buf))
{
throw_errno_exception("VIDIOC_QUERYBUF");
return;
}
_buffers[n_buffers].length = buf.length;
_buffers[n_buffers].start = mmap(NULL /* start anywhere */,
buf.length,
PROT_READ | PROT_WRITE /* required */,
MAP_SHARED /* recommended */,
_fileDescriptor, buf.m.offset
);
if (MAP_FAILED == _buffers[n_buffers].start)
{
throw_errno_exception("mmap");
return;
}
}
}
void V4L2Grabber::init_userp(unsigned int buffer_size)
{
struct v4l2_requestbuffers req;
CLEAR(req);
req.count = 4;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_USERPTR;
if (-1 == xioctl(VIDIOC_REQBUFS, &req))
{
if (EINVAL == errno)
{
throw_exception("'" + _currentDevicePath + "' does not support user pointer");
return;
}
else
{
throw_errno_exception("VIDIOC_REQBUFS");
return;
}
}
_buffers.resize(4);
for (size_t n_buffers = 0; n_buffers < 4; ++n_buffers)
{
_buffers[n_buffers].length = buffer_size;
_buffers[n_buffers].start = malloc(buffer_size);
if (!_buffers[n_buffers].start)
{
throw_exception("Out of memory");
return;
}
}
}
void V4L2Grabber::init_device(VideoStandard videoStandard)
{
struct v4l2_capability cap;
CLEAR(cap);
if (-1 == xioctl(VIDIOC_QUERYCAP, &cap))
{
if (EINVAL == errno)
{
throw_exception("'" + _currentDevicePath + "' is no V4L2 device");
return;
}
else
{
throw_errno_exception("VIDIOC_QUERYCAP");
return;
}
}
if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE))
{
throw_exception("'" + _currentDevicePath + "' is no video capture device");
return;
}
switch (_ioMethod)
{
case IO_METHOD_READ:
{
if (!(cap.capabilities & V4L2_CAP_READWRITE))
{
throw_exception("'" + _currentDevicePath + "' does not support read i/o");
return;
}
}
break;
case IO_METHOD_MMAP:
case IO_METHOD_USERPTR:
{
if (!(cap.capabilities & V4L2_CAP_STREAMING))
{
throw_exception("'" + _currentDevicePath + "' does not support streaming i/o");
return;
}
}
break;
}
/* Select video input, video standard and tune here. */
struct v4l2_cropcap cropcap;
CLEAR(cropcap);
cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (0 == xioctl(VIDIOC_CROPCAP, &cropcap))
{
struct v4l2_crop crop;
crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
crop.c = cropcap.defrect; /* reset to default */
if (-1 == xioctl(VIDIOC_S_CROP, &crop))
{
switch (errno)
{
case EINVAL: /* Cropping not supported. */
default: /* Errors ignored. */
break;
}
}
}
// set input if needed and supported
struct v4l2_input v4l2Input;
CLEAR(v4l2Input);
v4l2Input.index = _input;
if (_input >= 0 && 0 == xioctl(VIDIOC_ENUMINPUT, &v4l2Input))
{
(-1 == xioctl(VIDIOC_S_INPUT, &_input))
? Debug(_log, "Input settings not supported.")
: Debug(_log, "Set device input to: %s", v4l2Input.name);
}
// set the video standard if needed and supported
struct v4l2_standard standard;
CLEAR(standard);
if (-1 != xioctl(VIDIOC_ENUMSTD, &standard))
{
switch (videoStandard)
{
case VideoStandard::PAL:
{
standard.id = V4L2_STD_PAL;
if (-1 == xioctl(VIDIOC_S_STD, &standard.id))
{
throw_errno_exception("VIDIOC_S_STD");
break;
}
Debug(_log, "Video standard=PAL");
}
break;
case VideoStandard::NTSC:
{
standard.id = V4L2_STD_NTSC;
if (-1 == xioctl(VIDIOC_S_STD, &standard.id))
{
throw_errno_exception("VIDIOC_S_STD");
break;
}
Debug(_log, "Video standard=NTSC");
}
break;
case VideoStandard::SECAM:
{
standard.id = V4L2_STD_SECAM;
if (-1 == xioctl(VIDIOC_S_STD, &standard.id))
{
throw_errno_exception("VIDIOC_S_STD");
break;
}
Debug(_log, "Video standard=SECAM");
}
break;
case VideoStandard::NO_CHANGE:
default:
// No change to device settings
break;
}
}
// get the current settings
struct v4l2_format fmt;
CLEAR(fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(VIDIOC_G_FMT, &fmt))
{
throw_errno_exception("VIDIOC_G_FMT");
return;
}
// set the requested pixel format
switch (_pixelFormat)
{
case PixelFormat::RGB32:
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB32;
break;
case PixelFormat::BGR24:
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB24;
break;
case PixelFormat::YUYV:
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
break;
case PixelFormat::UYVY:
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_UYVY;
break;
case PixelFormat::NV12:
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_NV12;
break;
case PixelFormat::I420:
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUV420;
break;
#ifdef HAVE_TURBO_JPEG
case PixelFormat::MJPEG:
{
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_MJPEG;
fmt.fmt.pix.field = V4L2_FIELD_ANY;
}
break;
#endif
case PixelFormat::NO_CHANGE:
default:
// No change to device settings
break;
}
// set custom resolution for width and height if they are not zero
if(_width != 0 && _height != 0)
{
fmt.fmt.pix.width = _width;
fmt.fmt.pix.height = _height;
}
// set the settings
if (-1 == xioctl(VIDIOC_S_FMT, &fmt))
{
throw_errno_exception("VIDIOC_S_FMT");
return;
}
// initialize current width and height
_width = fmt.fmt.pix.width;
_height = fmt.fmt.pix.height;
// display the used width and height
Debug(_log, "Set resolution to width=%d height=%d", _width, _height );
// Trying to set frame rate
struct v4l2_streamparm streamparms;
CLEAR(streamparms);
streamparms.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
// Check that the driver knows about framerate get/set
if (xioctl(VIDIOC_G_PARM, &streamparms) >= 0)
{
// Check if the device is able to accept a capture framerate set.
if (streamparms.parm.capture.capability == V4L2_CAP_TIMEPERFRAME)
{
streamparms.parm.capture.timeperframe.numerator = 1;
streamparms.parm.capture.timeperframe.denominator = _fps;
(-1 == xioctl(VIDIOC_S_PARM, &streamparms))
? Debug(_log, "Frame rate settings not supported.")
: Debug(_log, "Set framerate to %d fps", streamparms.parm.capture.timeperframe.denominator);
}
}
// set the line length
_lineLength = fmt.fmt.pix.bytesperline;
// set brightness, contrast, saturation, hue
for (auto control : _deviceControls[_currentDevicePath])
{
struct v4l2_control control_S;
CLEAR(control_S);
control_S.id = _controlIDPropertyMap->key(control.property);
if (_controlIDPropertyMap->key(control.property) == V4L2_CID_BRIGHTNESS)
{
if (_brightness >= control.minValue && _brightness <= control.maxValue && _brightness != control.currentValue)
{
control_S.value = _brightness;
if (xioctl(VIDIOC_S_CTRL, &control_S) >= 0)
Debug(_log,"Set brightness to %i", _brightness);
}
}
else if (_controlIDPropertyMap->key(control.property) == V4L2_CID_CONTRAST)
{
if (_contrast >= control.minValue && _contrast <= control.maxValue && _contrast != control.currentValue)
{
control_S.value = _contrast;
if (xioctl(VIDIOC_S_CTRL, &control_S) >= 0)
Debug(_log,"Set contrast to %i", _contrast);
}
}
else if (_controlIDPropertyMap->key(control.property) == V4L2_CID_SATURATION)
{
if (_saturation >= control.minValue && _saturation <= control.maxValue && _saturation != control.currentValue)
{
control_S.value = _saturation;
if (xioctl(VIDIOC_S_CTRL, &control_S) >= 0)
Debug(_log,"Set saturation to %i", _saturation);
}
}
else if (_controlIDPropertyMap->key(control.property) == V4L2_CID_HUE)
{
if (_hue >= control.minValue && _hue <= control.maxValue && _hue != control.currentValue)
{
control_S.value = _hue;
if (xioctl(VIDIOC_S_CTRL, &control_S) >= 0)
Debug(_log,"Set hue to %i", _hue);
}
}
}
// check pixel format and frame size
switch (fmt.fmt.pix.pixelformat)
{
case V4L2_PIX_FMT_RGB32:
{
_pixelFormat = PixelFormat::RGB32;
_frameByteSize = _width * _height * 4;
Debug(_log, "Pixel format=RGB32");
}
break;
case V4L2_PIX_FMT_RGB24:
{
_pixelFormat = PixelFormat::BGR24;
_frameByteSize = _width * _height * 3;
Debug(_log, "Pixel format=BGR24");
}
break;
case V4L2_PIX_FMT_YUYV:
{
_pixelFormat = PixelFormat::YUYV;
_frameByteSize = _width * _height * 2;
Debug(_log, "Pixel format=YUYV");
}
break;
case V4L2_PIX_FMT_UYVY:
{
_pixelFormat = PixelFormat::UYVY;
_frameByteSize = _width * _height * 2;
Debug(_log, "Pixel format=UYVY");
}
break;
case V4L2_PIX_FMT_NV12:
{
_pixelFormat = PixelFormat::NV12;
_frameByteSize = (_width * _height * 6) / 4;
Debug(_log, "Pixel format=NV12");
}
break;
case V4L2_PIX_FMT_YUV420:
{
_pixelFormat = PixelFormat::I420;
_frameByteSize = (_width * _height * 6) / 4;
Debug(_log, "Pixel format=I420");
}
break;
#ifdef HAVE_TURBO_JPEG
case V4L2_PIX_FMT_MJPEG:
{
_pixelFormat = PixelFormat::MJPEG;
Debug(_log, "Pixel format=MJPEG");
}
break;
#endif
default:
#ifdef HAVE_TURBO_JPEG
throw_exception("Only pixel formats RGB32, BGR24, YUYV, UYVY, NV12, I420 and MJPEG are supported");
#else
throw_exception("Only pixel formats RGB32, BGR24, YUYV, UYVY, NV12 and I420 are supported");
#endif
return;
}
switch (_ioMethod)
{
case IO_METHOD_READ:
init_read(fmt.fmt.pix.sizeimage);
break;
case IO_METHOD_MMAP:
init_mmap();
break;
case IO_METHOD_USERPTR:
init_userp(fmt.fmt.pix.sizeimage);
break;
}
}
void V4L2Grabber::uninit_device()
{
switch (_ioMethod)
{
case IO_METHOD_READ:
free(_buffers[0].start);
break;
case IO_METHOD_MMAP:
{
for (size_t i = 0; i < _buffers.size(); ++i)
if (-1 == munmap(_buffers[i].start, _buffers[i].length))
{
throw_errno_exception("munmap");
return;
}
}
break;
case IO_METHOD_USERPTR:
{
for (size_t i = 0; i < _buffers.size(); ++i)
free(_buffers[i].start);
}
break;
}
_buffers.resize(0);
}
void V4L2Grabber::start_capturing()
{
switch (_ioMethod)
{
case IO_METHOD_READ:
/* Nothing to do. */
break;
case IO_METHOD_MMAP:
{
for (size_t i = 0; i < _buffers.size(); ++i)
{
struct v4l2_buffer buf;
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;
if (-1 == xioctl(VIDIOC_QBUF, &buf))
{
throw_errno_exception("VIDIOC_QBUF");
return;
}
}
v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(VIDIOC_STREAMON, &type))
{
throw_errno_exception("VIDIOC_STREAMON");
return;
}
break;
}
case IO_METHOD_USERPTR:
{
for (size_t i = 0; i < _buffers.size(); ++i)
{
struct v4l2_buffer buf;
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_USERPTR;
buf.index = i;
buf.m.userptr = (unsigned long)_buffers[i].start;
buf.length = _buffers[i].length;
if (-1 == xioctl(VIDIOC_QBUF, &buf))
{
throw_errno_exception("VIDIOC_QBUF");
return;
}
}
v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(VIDIOC_STREAMON, &type))
{
throw_errno_exception("VIDIOC_STREAMON");
return;
}
break;
}
}
}
void V4L2Grabber::stop_capturing()
{
enum v4l2_buf_type type;
switch (_ioMethod)
{
case IO_METHOD_READ:
break; /* Nothing to do. */
case IO_METHOD_MMAP:
case IO_METHOD_USERPTR:
{
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
ErrorIf((xioctl(VIDIOC_STREAMOFF, &type) == -1), _log, "VIDIOC_STREAMOFF error code %d, %s", errno, strerror(errno));
}
break;
}
}
int V4L2Grabber::read_frame()
{
bool rc = false;
try
{
struct v4l2_buffer buf;
switch (_ioMethod)
{
case IO_METHOD_READ:
{
int size;
if ((size = read(_fileDescriptor, _buffers[0].start, _buffers[0].length)) == -1)
{
switch (errno)
{
case EAGAIN:
return 0;
case EIO: /* Could ignore EIO, see spec. */
default:
throw_errno_exception("read");
return 0;
}
}
rc = process_image(_buffers[0].start, size);
}
break;
case IO_METHOD_MMAP:
{
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
if (-1 == xioctl(VIDIOC_DQBUF, &buf))
{
switch (errno)
{
case EAGAIN:
return 0;
case EIO: /* Could ignore EIO, see spec. */
default:
{
throw_errno_exception("VIDIOC_DQBUF");
stop();
enumVideoCaptureDevices();
}
return 0;
}
}
assert(buf.index < _buffers.size());
rc = process_image(_buffers[buf.index].start, buf.bytesused);
if (-1 == xioctl(VIDIOC_QBUF, &buf))
{
throw_errno_exception("VIDIOC_QBUF");
return 0;
}
}
break;
case IO_METHOD_USERPTR:
{
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_USERPTR;
if (-1 == xioctl(VIDIOC_DQBUF, &buf))
{
switch (errno)
{
case EAGAIN:
return 0;
case EIO: /* Could ignore EIO, see spec. */
default:
{
throw_errno_exception("VIDIOC_DQBUF");
stop();
enumVideoCaptureDevices();
}
return 0;
}
}
for (size_t i = 0; i < _buffers.size(); ++i)
{
if (buf.m.userptr == (unsigned long)_buffers[i].start && buf.length == _buffers[i].length)
{
break;
}
}
rc = process_image((void *)buf.m.userptr, buf.bytesused);
if (!rc && -1 == xioctl(VIDIOC_QBUF, &buf))
{
throw_errno_exception("VIDIOC_QBUF");
return 0;
}
}
break;
}
}
catch (std::exception& e)
{
emit readError(e.what());
rc = false;
}
return rc ? 1 : 0;
}
bool V4L2Grabber::process_image(const void *p, int size)
{
int processFrameIndex = _currentFrame++, result = false;
// frame skipping
if ((processFrameIndex % (_fpsSoftwareDecimation + 1) != 0) && (_fpsSoftwareDecimation > 0))
return result;
#ifdef HAVE_TURBO_JPEG
if (size < _frameByteSize && _pixelFormat != PixelFormat::MJPEG)
#else
if (size < _frameByteSize)
#endif
{
Error(_log, "Frame too small: %d != %d", size, _frameByteSize);
}
else if (_threadManager != nullptr)
{
for (int i = 0; i < _threadManager->_threadCount; i++)
{
if (!_threadManager->_threads[i]->isBusy())
{
_threadManager->_threads[i]->setup(_pixelFormat, (uint8_t*)p, size, _width, _height, _lineLength, _cropLeft, _cropTop, _cropBottom, _cropRight, _videoMode, _flipMode, _pixelDecimation);
_threadManager->_threads[i]->process();
result = true;
break;
}
}
}
return result;
}
void V4L2Grabber::newThreadFrame(Image<ColorRgb> image)
{
if (_cecDetectionEnabled && _cecStandbyActivated)
return;
if (_signalDetectionEnabled)
{
// check signal (only in center of the resulting image, because some grabbers have noise values along the borders)
bool noSignal = true;
// top left
unsigned xOffset = image.width() * _x_frac_min;
unsigned yOffset = image.height() * _y_frac_min;
// bottom right
unsigned xMax = image.width() * _x_frac_max;
unsigned yMax = image.height() * _y_frac_max;
for (unsigned x = xOffset; noSignal && x < xMax; ++x)
for (unsigned y = yOffset; noSignal && y < yMax; ++y)
noSignal &= (ColorRgb&)image(x, y) <= _noSignalThresholdColor;
if (noSignal)
++_noSignalCounter;
else
{
if (_noSignalCounter >= _noSignalCounterThreshold)
{
_noSignalDetected = true;
Info(_log, "Signal detected");
}
_noSignalCounter = 0;
}
if ( _noSignalCounter < _noSignalCounterThreshold)
{
emit newFrame(image);
}
else if (_noSignalCounter == _noSignalCounterThreshold)
{
_noSignalDetected = false;
Info(_log, "Signal lost");
}
}
else
emit newFrame(image);
}
int V4L2Grabber::xioctl(int request, void *arg)
{
int r;
do
{
r = ioctl(_fileDescriptor, request, arg);
}
while (-1 == r && EINTR == errno);
return r;
}
int V4L2Grabber::xioctl(int fileDescriptor, int request, void *arg)
{
int r;
do
{
r = ioctl(fileDescriptor, request, arg);
}
while (r < 0 && errno == EINTR );
return r;
}
void V4L2Grabber::setDevice(const QString& devicePath, const QString& deviceName)
{
if (_currentDevicePath != devicePath || _currentDeviceName != deviceName)
{
_currentDevicePath = devicePath;
_currentDeviceName = deviceName;
_reload = true;
}
}
bool V4L2Grabber::setInput(int input)
{
if(Grabber::setInput(input))
{
_reload = true;
return true;
}
return false;
}
bool V4L2Grabber::setWidthHeight(int width, int height)
{
if(Grabber::setWidthHeight(width, height))
{
_reload = true;
return true;
}
return false;
}
void V4L2Grabber::setEncoding(QString enc)
{
if(_pixelFormatConfig != parsePixelFormat(enc))
{
_pixelFormatConfig = parsePixelFormat(enc);
if(_initialized)
{
Debug(_log,"Set hardware encoding to: %s", QSTRING_CSTR(enc.toUpper()));
_reload = true;
}
else
_pixelFormat = _pixelFormatConfig;
}
}
void V4L2Grabber::setBrightnessContrastSaturationHue(int brightness, int contrast, int saturation, int hue)
{
if (_brightness != brightness || _contrast != contrast || _saturation != saturation || _hue != hue)
{
_brightness = brightness;
_contrast = contrast;
_saturation = saturation;
_hue = hue;
_reload = true;
}
}
void V4L2Grabber::setSignalThreshold(double redSignalThreshold, double greenSignalThreshold, double blueSignalThreshold, int noSignalCounterThreshold)
{
_noSignalThresholdColor.red = uint8_t(255*redSignalThreshold);
_noSignalThresholdColor.green = uint8_t(255*greenSignalThreshold);
_noSignalThresholdColor.blue = uint8_t(255*blueSignalThreshold);
_noSignalCounterThreshold = qMax(1, noSignalCounterThreshold);
if(_signalDetectionEnabled)
Info(_log, "Signal threshold set to: {%d, %d, %d}", _noSignalThresholdColor.red, _noSignalThresholdColor.green, _noSignalThresholdColor.blue );
}
void V4L2Grabber::setSignalDetectionOffset(double horizontalMin, double verticalMin, double horizontalMax, double verticalMax)
{
// rainbow 16 stripes 0.47 0.2 0.49 0.8
// unicolor: 0.25 0.25 0.75 0.75
_x_frac_min = horizontalMin;
_y_frac_min = verticalMin;
_x_frac_max = horizontalMax;
_y_frac_max = verticalMax;
if(_signalDetectionEnabled)
Info(_log, "Signal detection area set to: %f,%f x %f,%f", _x_frac_min, _y_frac_min, _x_frac_max, _y_frac_max );
}
void V4L2Grabber::setSignalDetectionEnable(bool enable)
{
if (_signalDetectionEnabled != enable)
{
_signalDetectionEnabled = enable;
if(_initialized)
Info(_log, "Signal detection is now %s", enable ? "enabled" : "disabled");
}
}
void V4L2Grabber::setCecDetectionEnable(bool enable)
{
if (_cecDetectionEnabled != enable)
{
_cecDetectionEnabled = enable;
if(_initialized)
Info(_log, "%s", QSTRING_CSTR(QString("CEC detection is now %1").arg(enable ? "enabled" : "disabled")));
}
}
bool V4L2Grabber::reload(bool force)
{
if (_reload || force)
{
if (_streamNotifier != nullptr && _streamNotifier->isEnabled())
{
Info(_log,"Reloading V4L2 Grabber");
uninit();
_pixelFormat = _pixelFormatConfig;
}
_reload = false;
return prepare() && start();
}
return false;
}
#if defined(ENABLE_CEC)
void V4L2Grabber::handleCecEvent(CECEvent event)
{
switch (event)
{
case CECEvent::On :
Debug(_log,"CEC on event received");
_cecStandbyActivated = false;
return;
case CECEvent::Off :
Debug(_log,"CEC off event received");
_cecStandbyActivated = true;
return;
default: break;
}
}
#endif
QJsonArray V4L2Grabber::discover(const QJsonObject& params)
{
DebugIf(verbose, _log, "params: [%s]", QString(QJsonDocument(params).toJson(QJsonDocument::Compact)).toUtf8().constData());
enumVideoCaptureDevices();
QJsonArray inputsDiscovered;
for (auto device_property = _deviceProperties.constBegin(); device_property != _deviceProperties.constEnd(); ++device_property)
{
QJsonObject device, in;
QJsonArray video_inputs, formats;
if (!device_property.value().inputs.isEmpty())
{
device["device"] = device_property.key();
device["device_name"] = device_property.value().name;
device["type"] = "v4l2";
for (auto input = device_property.value().inputs.constBegin(); input != device_property.value().inputs.constEnd(); ++input)
{
in["name"] = input.value().inputName;
in["inputIdx"] = input.key();
QJsonArray standards;
for (auto std = input.value().standards.constBegin(); std != input.value().standards.constEnd(); ++std)
if(!standards.contains(VideoStandard2String(*std)))
standards.append(VideoStandard2String(*std));
if (!standards.isEmpty())
in["standards"] = standards;
for (auto encodingFormat : input.value().encodingFormats.uniqueKeys())
{
QJsonObject format;
QJsonArray resolutionArray;
format["format"] = pixelFormatToString(encodingFormat);
QMap<std::pair<int, int>, QSet<int>> combined = QMap<std::pair<int, int>, QSet<int>>();
for (auto enc : input.value().encodingFormats.values(encodingFormat))
{
std::pair<int, int> width_height{enc.width, enc.height};
auto &com = combined[width_height];
for (auto framerate : qAsConst(enc.framerates))
{
com.insert(framerate);
}
}
for (auto enc = combined.constBegin(); enc != combined.constEnd(); ++enc)
{
QJsonObject resolution;
QJsonArray fps;
resolution["width"] = enc.key().first;
resolution["height"] = enc.key().second;
for (auto framerate : enc.value())
fps.append(framerate);
resolution["fps"] = fps;
resolutionArray.append(resolution);
}
format["resolutions"] = resolutionArray;
formats.append(format);
}
in["formats"] = formats;
video_inputs.append(in);
}
device["video_inputs"] = video_inputs;
QJsonObject controls, controls_default;
for (const auto &control : qAsConst(_deviceControls[device_property.key()]))
{
QJsonObject property;
property["minValue"] = control.minValue;
property["maxValue"] = control.maxValue;
property["step"] = control.step;
property["current"] = control.currentValue;
controls[control.property] = property;
controls_default[control.property] = control.defaultValue;
}
device["properties"] = controls;
QJsonObject defaults, video_inputs_default, format_default, resolution_default;
resolution_default["width"] = 640;
resolution_default["height"] = 480;
resolution_default["fps"] = 25;
format_default["format"] = "yuyv";
format_default["resolution"] = resolution_default;
video_inputs_default["inputIdx"] = 0;
video_inputs_default["standards"] = "PAL";
video_inputs_default["formats"] = format_default;
defaults["video_input"] = video_inputs_default;
defaults["properties"] = controls_default;
device["default"] = defaults;
inputsDiscovered.append(device);
}
}
_deviceProperties.clear();
_deviceControls.clear();
DebugIf(verbose, _log, "device: [%s]", QString(QJsonDocument(inputsDiscovered).toJson(QJsonDocument::Compact)).toUtf8().constData());
return inputsDiscovered;
}
void V4L2Grabber::enumVideoCaptureDevices()
{
QDirIterator it("/sys/class/video4linux/", QDirIterator::NoIteratorFlags);
_deviceProperties.clear();
_deviceControls.clear();
while(it.hasNext())
{
//_v4lDevices
QString dev = it.next();
if (it.fileName().startsWith("video"))
{
QString devName = "/dev/" + it.fileName();
int fd = open(QSTRING_CSTR(devName), O_RDWR | O_NONBLOCK, 0);
if (fd < 0)
{
throw_errno_exception("Cannot open '" + devName + "'");
continue;
}
struct v4l2_capability cap;
CLEAR(cap);
if (xioctl(fd, VIDIOC_QUERYCAP, &cap) < 0)
{
throw_errno_exception("'" + devName + "' is no V4L2 device");
close(fd);
continue;
}
if (cap.device_caps & V4L2_CAP_META_CAPTURE) // this device has bit 23 set (and bit 1 reset), so it doesn't have capture.
{
close(fd);
continue;
}
// get the current settings
struct v4l2_format fmt;
CLEAR(fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (xioctl(fd, VIDIOC_G_FMT, &fmt) < 0)
{
close(fd);
continue;
}
V4L2Grabber::DeviceProperties properties;
// collect available device inputs (index & name)
struct v4l2_input input;
CLEAR(input);
input.index = 0;
while (xioctl(fd, VIDIOC_ENUMINPUT, &input) >= 0)
{
V4L2Grabber::DeviceProperties::InputProperties inputProperties;
inputProperties.inputName = QString((char*)input.name);
// Enumerate video standards
struct v4l2_standard standard;
CLEAR(standard);
standard.index = 0;
while (xioctl(fd, VIDIOC_ENUMSTD, &standard) >= 0)
{
if (standard.id & input.std)
{
if (standard.id == V4L2_STD_PAL)
inputProperties.standards.append(VideoStandard::PAL);
else if (standard.id == V4L2_STD_NTSC)
inputProperties.standards.append(VideoStandard::NTSC);
else if (standard.id == V4L2_STD_SECAM)
inputProperties.standards.append(VideoStandard::SECAM);
}
standard.index++;
}
// Enumerate pixel formats
struct v4l2_fmtdesc desc;
CLEAR(desc);
desc.index = 0;
desc.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
while (xioctl(fd, VIDIOC_ENUM_FMT, &desc) == 0)
{
PixelFormat encodingFormat = GetPixelFormat(desc.pixelformat);
if (encodingFormat != PixelFormat::NO_CHANGE)
{
V4L2Grabber::DeviceProperties::InputProperties::EncodingProperties encodingProperties;
// Enumerate frame sizes and frame rates
struct v4l2_frmsizeenum frmsizeenum;
CLEAR(frmsizeenum);
frmsizeenum.index = 0;
frmsizeenum.pixel_format = desc.pixelformat;
while (xioctl(fd, VIDIOC_ENUM_FRAMESIZES, &frmsizeenum) >= 0)
{
switch (frmsizeenum.type)
{
case V4L2_FRMSIZE_TYPE_DISCRETE:
{
encodingProperties.width = frmsizeenum.discrete.width;
encodingProperties.height = frmsizeenum.discrete.height;
enumFrameIntervals(encodingProperties.framerates, fd, desc.pixelformat, frmsizeenum.discrete.width, frmsizeenum.discrete.height);
}
break;
case V4L2_FRMSIZE_TYPE_CONTINUOUS:
case V4L2_FRMSIZE_TYPE_STEPWISE: // We do not take care of V4L2_FRMSIZE_TYPE_CONTINUOUS or V4L2_FRMSIZE_TYPE_STEPWISE
break;
}
inputProperties.encodingFormats.insert(encodingFormat, encodingProperties);
frmsizeenum.index++;
}
// Failsafe: In case VIDIOC_ENUM_FRAMESIZES fails, insert current heigth, width and fps.
if (xioctl(fd, VIDIOC_ENUM_FRAMESIZES, &frmsizeenum) == -1)
{
encodingProperties.width = fmt.fmt.pix.width;
encodingProperties.height = fmt.fmt.pix.height;
enumFrameIntervals(encodingProperties.framerates, fd, desc.pixelformat, encodingProperties.width, encodingProperties.height);
inputProperties.encodingFormats.insert(encodingFormat, encodingProperties);
}
}
desc.index++;
}
properties.inputs.insert(input.index, inputProperties);
input.index++;
}
// Enumerate video control IDs
QList<DeviceControls> deviceControlList;
for (auto itDeviceControls = _controlIDPropertyMap->constBegin(); itDeviceControls != _controlIDPropertyMap->constEnd(); itDeviceControls++)
{
struct v4l2_queryctrl queryctrl;
CLEAR(queryctrl);
queryctrl.id = itDeviceControls.key();
if (xioctl(fd, VIDIOC_QUERYCTRL, &queryctrl) < 0)
break;
if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
break;
DeviceControls control;
control.property = itDeviceControls.value();
control.minValue = queryctrl.minimum;
control.maxValue = queryctrl.maximum;
control.step = queryctrl.step;
control.defaultValue = queryctrl.default_value;
struct v4l2_ext_control ctrl;
struct v4l2_ext_controls ctrls;
CLEAR(ctrl);
CLEAR(ctrls);
ctrl.id = itDeviceControls.key();
ctrls.count = 1;
ctrls.controls = &ctrl;
if (xioctl(fd, VIDIOC_G_EXT_CTRLS, &ctrls) == 0)
{
control.currentValue = ctrl.value;
DebugIf(verbose, _log, "%s: min=%i, max=%i, step=%i, default=%i, current=%i", QSTRING_CSTR(itDeviceControls.value()), control.minValue, control.maxValue, control.step, control.defaultValue, control.currentValue);
}
else
break;
deviceControlList.append(control);
}
if (!deviceControlList.isEmpty())
_deviceControls.insert("/dev/"+it.fileName(), deviceControlList);
if (close(fd) < 0) continue;
QFile devNameFile(dev+"/name");
if (devNameFile.exists())
{
devNameFile.open(QFile::ReadOnly);
devName = devNameFile.readLine();
devName = devName.trimmed();
properties.name = devName;
devNameFile.close();
}
_deviceProperties.insert("/dev/"+it.fileName(), properties);
}
}
}
void V4L2Grabber::enumFrameIntervals(QList<int> &framerates, int fileDescriptor, int pixelformat, int width, int height)
{
// collect available frame rates
struct v4l2_frmivalenum frmivalenum;
CLEAR(frmivalenum);
frmivalenum.index = 0;
frmivalenum.pixel_format = pixelformat;
frmivalenum.width = width;
frmivalenum.height = height;
while (xioctl(fileDescriptor, VIDIOC_ENUM_FRAMEINTERVALS, &frmivalenum) >= 0)
{
int rate;
switch (frmivalenum.type)
{
case V4L2_FRMSIZE_TYPE_DISCRETE:
{
if (frmivalenum.discrete.numerator != 0)
{
rate = frmivalenum.discrete.denominator / frmivalenum.discrete.numerator;
if (!framerates.contains(rate))
framerates.append(rate);
}
}
break;
case V4L2_FRMSIZE_TYPE_CONTINUOUS:
case V4L2_FRMSIZE_TYPE_STEPWISE:
{
if (frmivalenum.stepwise.min.denominator != 0)
{
rate = frmivalenum.stepwise.min.denominator / frmivalenum.stepwise.min.numerator;
if (!framerates.contains(rate))
framerates.append(rate);
}
}
}
frmivalenum.index++;
}
// If VIDIOC_ENUM_FRAMEINTERVALS fails, try to read the current fps via VIDIOC_G_PARM if possible and insert it into 'framerates'.
if (xioctl(fileDescriptor, VIDIOC_ENUM_FRAMESIZES, &frmivalenum) == -1)
{
struct v4l2_streamparm streamparms;
CLEAR(streamparms);
streamparms.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (xioctl(fileDescriptor, VIDIOC_G_PARM, &streamparms) >= 0)
framerates.append(streamparms.parm.capture.timeperframe.denominator / streamparms.parm.capture.timeperframe.numerator);
}
}
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