Initial import

Signed-off-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>

1 files changed, 1138 insertions, 0 deletions

diff --git a/yavta.c b/yavta.c
new file mode 100644
index 0000000..4c0d97b
--- /dev/null
+++ b/yavta.c
@@ -0,0 +1,1138 @@
+/*
+ * yavta --  Yet Another V4L2 Test Application
+ *
+ * Copyright (C) 2005-2010 Laurent Pinchart <laurent.pinchart@ideasonboard.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <getopt.h>
+#include <sys/ioctl.h>
+#include <sys/mman.h>
+#include <sys/select.h>
+#include <sys/time.h>
+
+#include <linux/videodev2.h>
+
+#define ARRAY_SIZE(a)	(sizeof(a)/sizeof((a)[0]))
+
+struct device
+{
+	int fd;
+
+	enum v4l2_buf_type type;
+	enum v4l2_memory memtype;
+	unsigned int nbufs;
+	unsigned int bufsize;
+	void **mem;
+};
+
+static const char *v4l2_buf_type_name(enum v4l2_buf_type type)
+{
+	static struct {
+		enum v4l2_buf_type type;
+		const char *name;
+	} names[] = {
+		{ V4L2_BUF_TYPE_VIDEO_CAPTURE, "Video capture" },
+		{ V4L2_BUF_TYPE_VIDEO_OUTPUT, "Video output" },
+		{ V4L2_BUF_TYPE_VIDEO_OVERLAY, "Video overlay" },
+	};
+
+	unsigned int i;
+
+	for (i = 0; i < ARRAY_SIZE(names); ++i) {
+		if (names[i].type == type)
+			return names[i].name;
+	}
+
+	if (type & V4L2_BUF_TYPE_PRIVATE)
+		return "Private";
+	else
+		return "Unknown";
+}
+
+static const char *v4l2_fourcc_name(unsigned int fourcc)
+{
+	static char name[5];
+	unsigned int i;
+
+	for (i = 0; i < 4; ++i) {
+		name[i] = fourcc & 0xff;
+		fourcc >>= 8;
+	}
+
+	name[4] = '\0';
+	return name;
+}
+
+static int video_open(struct device *dev, const char *devname, int no_query)
+{
+	struct v4l2_capability cap;
+	int ret;
+
+	memset(dev, 0, sizeof *dev);
+	dev->fd = -1;
+	dev->memtype = V4L2_MEMORY_MMAP;
+	dev->mem = NULL;
+
+	dev->fd = open(devname, O_RDWR);
+	if (dev->fd < 0) {
+		printf("Error opening device %s: %d.\n", devname, errno);
+		return dev->fd;
+	}
+
+	if (!no_query) {
+		memset(&cap, 0, sizeof cap);
+		ret = ioctl(dev->fd, VIDIOC_QUERYCAP, &cap);
+		if (ret < 0) {
+			printf("Error opening device %s: unable to query "
+				"device.\n", devname);
+			close(dev->fd);
+			return ret;
+		}
+
+		if (cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)
+			dev->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+		else if (cap.capabilities & V4L2_CAP_VIDEO_OUTPUT)
+			dev->type = V4L2_BUF_TYPE_VIDEO_OUTPUT;
+		else {
+			printf("Error opening device %s: neither video capture "
+				"nor video output supported.\n", devname);
+			close(dev->fd);
+			return -EINVAL;
+		}
+
+		printf("Device %s opened: %s.\n", devname, cap.card);
+	} else {
+		dev->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+		printf("Device %s opened.\n", devname);
+	}
+
+	return 0;
+}
+
+static void video_close(struct device *dev)
+{
+	free(dev->mem);
+	close(dev->fd);
+}
+
+static void uvc_get_control(struct device *dev, unsigned int id)
+{
+	struct v4l2_control ctrl;
+	int ret;
+
+	ctrl.id = id;
+
+	ret = ioctl(dev->fd, VIDIOC_G_CTRL, &ctrl);
+	if (ret < 0) {
+		printf("unable to get control: %s (%d).\n",
+			strerror(errno), errno);
+		return;
+	}
+
+	printf("Control 0x%08x value %u\n", id, ctrl.value);
+}
+
+static void uvc_set_control(struct device *dev, unsigned int id, int value)
+{
+	struct v4l2_control ctrl;
+	int ret;
+
+	ctrl.id = id;
+	ctrl.value = value;
+
+	ret = ioctl(dev->fd, VIDIOC_S_CTRL, &ctrl);
+	if (ret < 0) {
+		printf("unable to set control: %s (%d).\n",
+			strerror(errno), errno);
+		return;
+	}
+
+	printf("Control 0x%08x set to %u, is %u\n", id, value,
+		ctrl.value);
+}
+
+static int video_get_format(struct device *dev)
+{
+	struct v4l2_format fmt;
+	int ret;
+
+	memset(&fmt, 0, sizeof fmt);
+	fmt.type = dev->type;
+
+	ret = ioctl(dev->fd, VIDIOC_G_FMT, &fmt);
+	if (ret < 0) {
+		printf("Unable to get format: %s (%d).\n", strerror(errno),
+			errno);
+		return ret;
+	}
+
+	printf("Video format: %c%c%c%c (%08x) %ux%u\n",
+		(fmt.fmt.pix.pixelformat >> 0) & 0xff,
+		(fmt.fmt.pix.pixelformat >> 8) & 0xff,
+		(fmt.fmt.pix.pixelformat >> 16) & 0xff,
+		(fmt.fmt.pix.pixelformat >> 24) & 0xff,
+		fmt.fmt.pix.pixelformat,
+		fmt.fmt.pix.width, fmt.fmt.pix.height);
+	return 0;
+}
+
+static int video_set_format(struct device *dev, unsigned int w, unsigned int h, unsigned int format)
+{
+	struct v4l2_format fmt;
+	int ret;
+
+	memset(&fmt, 0, sizeof fmt);
+	fmt.type = dev->type;
+	fmt.fmt.pix.width = w;
+	fmt.fmt.pix.height = h;
+	fmt.fmt.pix.pixelformat = format;
+	fmt.fmt.pix.field = V4L2_FIELD_ANY;
+
+	ret = ioctl(dev->fd, VIDIOC_S_FMT, &fmt);
+	if (ret < 0) {
+		printf("Unable to set format: %s (%d).\n", strerror(errno),
+			errno);
+		return ret;
+	}
+
+	printf("Video format set: width: %u height: %u buffer size: %u\n",
+		fmt.fmt.pix.width, fmt.fmt.pix.height, fmt.fmt.pix.sizeimage);
+	return 0;
+}
+
+static int video_set_framerate(struct device *dev, struct v4l2_fract *time_per_frame)
+{
+	struct v4l2_streamparm parm;
+	int ret;
+
+	memset(&parm, 0, sizeof parm);
+	parm.type = dev->type;
+
+	ret = ioctl(dev->fd, VIDIOC_G_PARM, &parm);
+	if (ret < 0) {
+		printf("Unable to get frame rate: %d.\n", errno);
+		return ret;
+	}
+
+	printf("Current frame rate: %u/%u\n",
+		parm.parm.capture.timeperframe.numerator,
+		parm.parm.capture.timeperframe.denominator);
+
+	printf("Setting frame rate to: %u/%u\n",
+		time_per_frame->numerator,
+		time_per_frame->denominator);
+
+	parm.parm.capture.timeperframe.numerator = time_per_frame->numerator;
+	parm.parm.capture.timeperframe.denominator = time_per_frame->denominator;
+
+	ret = ioctl(dev->fd, VIDIOC_S_PARM, &parm);
+	if (ret < 0) {
+		printf("Unable to set frame rate: %d.\n", errno);
+		return ret;
+	}
+
+	ret = ioctl(dev->fd, VIDIOC_G_PARM, &parm);
+	if (ret < 0) {
+		printf("Unable to get frame rate: %d.\n", errno);
+		return ret;
+	}
+
+	printf("Frame rate set: %u/%u\n",
+		parm.parm.capture.timeperframe.numerator,
+		parm.parm.capture.timeperframe.denominator);
+	return 0;
+}
+
+static int video_alloc_buffers(struct device *dev, int nbufs)
+{
+	struct v4l2_requestbuffers rb;
+	struct v4l2_buffer buf;
+	void **bufmem;
+	unsigned int i;
+	int ret;
+
+	memset(&rb, 0, sizeof rb);
+	rb.count = nbufs;
+	rb.type = dev->type;
+	rb.memory = dev->memtype;
+
+	ret = ioctl(dev->fd, VIDIOC_REQBUFS, &rb);
+	if (ret < 0) {
+		printf("Unable to request buffers: %d.\n", errno);
+		return ret;
+	}
+
+	printf("%u buffers requested.\n", rb.count);
+
+	bufmem = malloc(rb.count * sizeof bufmem[0]);
+	if (bufmem == NULL)
+		return -ENOMEM;
+
+	/* Map the buffers. */
+	for (i = 0; i < rb.count; ++i) {
+		memset(&buf, 0, sizeof buf);
+		buf.index = i;
+		buf.type = dev->type;
+		buf.memory = dev->memtype;
+		ret = ioctl(dev->fd, VIDIOC_QUERYBUF, &buf);
+		if (ret < 0) {
+			printf("Unable to query buffer %u (%d).\n", i, errno);
+			return ret;
+		}
+		printf("length: %u offset: %u\n", buf.length, buf.m.offset);
+
+		switch (dev->memtype) {
+		case V4L2_MEMORY_MMAP:
+			bufmem[i] = mmap(0, buf.length, PROT_READ | PROT_WRITE, MAP_SHARED, dev->fd, buf.m.offset);
+			if (bufmem[i] == MAP_FAILED) {
+				printf("Unable to map buffer %u (%d)\n", i, errno);
+				return ret;
+			}
+			printf("Buffer %u mapped at address %p.\n", i, bufmem[i]);
+			break;
+
+		case V4L2_MEMORY_USERPTR:
+			bufmem[i] = malloc(buf.length);
+			if (bufmem[i] == NULL) {
+				printf("Unable to allocate buffer %u (%d)\n", i, errno);
+				return -ENOMEM;
+			}
+			printf("Buffer %u allocated at address %p.\n", i, bufmem[i]);
+			break;
+
+		default:
+			break;
+		}
+	}
+
+	dev->mem = bufmem;
+	dev->nbufs = rb.count;
+	dev->bufsize = buf.length;
+	return 0;
+}
+
+static int video_free_buffers(struct device *dev)
+{
+	struct v4l2_requestbuffers rb;
+	unsigned int i;
+	int ret;
+
+	if (dev->nbufs == 0)
+		return 0;
+
+	if (dev->memtype == V4L2_MEMORY_MMAP) {
+		for (i = 0; i < dev->nbufs; ++i) {
+			ret = munmap(dev->mem[i], dev->bufsize);
+			if (ret < 0) {
+				printf("Unable to unmap buffer %u (%d)\n", i, errno);
+				return ret;
+			}
+		}
+	}
+
+	memset(&rb, 0, sizeof rb);
+	rb.count = 0;
+	rb.type = dev->type;
+	rb.memory = dev->memtype;
+
+	ret = ioctl(dev->fd, VIDIOC_REQBUFS, &rb);
+	if (ret < 0) {
+		printf("Unable to release buffers: %d.\n", errno);
+		return ret;
+	}
+
+	printf("%u buffers released.\n", dev->nbufs);
+
+	free(dev->mem);
+	dev->nbufs = 0;
+	dev->mem = NULL;
+
+	return 0;
+}
+
+static int video_queue_buffer(struct device *dev, int index)
+{
+	struct v4l2_buffer buf;
+	int ret;
+
+	memset(&buf, 0, sizeof buf);
+	buf.index = index;
+	buf.type = dev->type;
+	buf.memory = dev->memtype;
+	if (dev->memtype == V4L2_MEMORY_USERPTR)
+		buf.m.userptr = (unsigned long)dev->mem[index];
+
+	if (dev->type == V4L2_BUF_TYPE_VIDEO_OUTPUT) {
+		buf.bytesused = buf.length;
+		memset(dev->mem[buf.index], 0, buf.bytesused);
+	}
+
+	ret = ioctl(dev->fd, VIDIOC_QBUF, &buf);
+	if (ret < 0)
+		printf("Unable to queue buffer (%d).\n", errno);
+
+	return ret;
+}
+
+static int video_enable(struct device *dev, int enable)
+{
+	int type = dev->type;
+	int ret;
+
+	ret = ioctl(dev->fd, enable ? VIDIOC_STREAMON : VIDIOC_STREAMOFF, &type);
+	if (ret < 0) {
+		printf("Unable to %s streaming: %d.\n", enable ? "start" : "stop",
+			errno);
+		return ret;
+	}
+
+	return 0;
+}
+
+static void video_query_menu(struct device *dev, unsigned int id)
+{
+	struct v4l2_querymenu menu;
+	int ret;
+
+	menu.index = 0;
+	while (1) {
+		menu.id = id;
+		ret = ioctl(dev->fd, VIDIOC_QUERYMENU, &menu);
+		if (ret < 0)
+			break;
+
+		printf("  %u: %.32s\n", menu.index, menu.name);
+		menu.index++;
+	};
+}
+
+static void video_list_controls(struct device *dev)
+{
+	struct v4l2_queryctrl query;
+	struct v4l2_control ctrl;
+	unsigned int nctrls = 0;
+	char value[12];
+	int ret;
+
+#ifndef V4L2_CTRL_FLAG_NEXT_CTRL
+	unsigned int i;
+
+	for (i = V4L2_CID_BASE; i <= V4L2_CID_LASTP1; ++i) {
+		query.id = i;
+#else
+	query.id = 0;
+	while (1) {
+		query.id |= V4L2_CTRL_FLAG_NEXT_CTRL;
+#endif
+		ret = ioctl(dev->fd, VIDIOC_QUERYCTRL, &query);
+		if (ret < 0)
+			break;
+
+		if (query.flags & V4L2_CTRL_FLAG_DISABLED)
+			continue;
+
+		ctrl.id = query.id;
+		ret = ioctl(dev->fd, VIDIOC_G_CTRL, &ctrl);
+		if (ret < 0)
+			strcpy(value, "n/a");
+		else
+			sprintf(value, "%d", ctrl.value);
+
+		printf("control 0x%08x %s min %d max %d step %d default %d current %s.\n",
+			query.id, query.name, query.minimum, query.maximum,
+			query.step, query.default_value, value);
+
+		if (query.type == V4L2_CTRL_TYPE_MENU)
+			video_query_menu(dev, query.id);
+
+		nctrls++;
+	}
+
+	if (nctrls)
+		printf("%u control%s found.\n", nctrls, nctrls > 1 ? "s" : "");
+	else
+		printf("No control found.\n");
+}
+
+static void video_enum_frame_intervals(struct device *dev, __u32 pixelformat,
+	unsigned int width, unsigned int height)
+{
+	struct v4l2_frmivalenum ival;
+	unsigned int i;
+	int ret;
+
+	for (i = 0; ; ++i) {
+		memset(&ival, 0, sizeof ival);
+		ival.index = i;
+		ival.pixel_format = pixelformat;
+		ival.width = width;
+		ival.height = height;
+		ret = ioctl(dev->fd, VIDIOC_ENUM_FRAMEINTERVALS, &ival);
+		if (ret < 0)
+			break;
+
+		if (i != ival.index)
+			printf("Warning: driver returned wrong ival index "
+				"%u.\n", ival.index);
+		if (pixelformat != ival.pixel_format)
+			printf("Warning: driver returned wrong ival pixel "
+				"format %08x.\n", ival.pixel_format);
+		if (width != ival.width)
+			printf("Warning: driver returned wrong ival width "
+				"%u.\n", ival.width);
+		if (height != ival.height)
+			printf("Warning: driver returned wrong ival height "
+				"%u.\n", ival.height);
+
+		if (i != 0)
+			printf(", ");
+
+		switch (ival.type) {
+		case V4L2_FRMIVAL_TYPE_DISCRETE:
+			printf("%u/%u",
+				ival.discrete.numerator,
+				ival.discrete.denominator);
+			break;
+
+		case V4L2_FRMIVAL_TYPE_CONTINUOUS:
+			printf("%u/%u - %u/%u",
+				ival.stepwise.min.numerator,
+				ival.stepwise.min.denominator,
+				ival.stepwise.max.numerator,
+				ival.stepwise.max.denominator);
+			return;
+
+		case V4L2_FRMIVAL_TYPE_STEPWISE:
+			printf("%u/%u - %u/%u (by %u/%u)",
+				ival.stepwise.min.numerator,
+				ival.stepwise.min.denominator,
+				ival.stepwise.max.numerator,
+				ival.stepwise.max.denominator,
+				ival.stepwise.step.numerator,
+				ival.stepwise.step.denominator);
+			return;
+
+		default:
+			break;
+		}
+	}
+}
+
+static void video_enum_frame_sizes(struct device *dev, __u32 pixelformat)
+{
+	struct v4l2_frmsizeenum frame;
+	unsigned int i;
+	int ret;
+
+	for (i = 0; ; ++i) {
+		memset(&frame, 0, sizeof frame);
+		frame.index = i;
+		frame.pixel_format = pixelformat;
+		ret = ioctl(dev->fd, VIDIOC_ENUM_FRAMESIZES, &frame);
+		if (ret < 0)
+			break;
+
+		if (i != frame.index)
+			printf("Warning: driver returned wrong frame index "
+				"%u.\n", frame.index);
+		if (pixelformat != frame.pixel_format)
+			printf("Warning: driver returned wrong frame pixel "
+				"format %08x.\n", frame.pixel_format);
+
+		switch (frame.type) {
+		case V4L2_FRMSIZE_TYPE_DISCRETE:
+			printf("\tFrame size: %ux%u (", frame.discrete.width,
+				frame.discrete.height);
+			video_enum_frame_intervals(dev, frame.pixel_format,
+				frame.discrete.width, frame.discrete.height);
+			printf(")\n");
+			break;
+
+		case V4L2_FRMSIZE_TYPE_CONTINUOUS:
+			printf("\tFrame size: %ux%u - %ux%u (",
+				frame.stepwise.min_width,
+				frame.stepwise.min_height,
+				frame.stepwise.max_width,
+				frame.stepwise.max_height);
+			video_enum_frame_intervals(dev, frame.pixel_format,
+				frame.stepwise.max_width,
+				frame.stepwise.max_height);
+			printf(")\n");
+			break;
+
+		case V4L2_FRMSIZE_TYPE_STEPWISE:
+			printf("\tFrame size: %ux%u - %ux%u (by %ux%u) (\n",
+				frame.stepwise.min_width,
+				frame.stepwise.min_height,
+				frame.stepwise.max_width,
+				frame.stepwise.max_height,
+				frame.stepwise.step_width,
+				frame.stepwise.step_height);
+			video_enum_frame_intervals(dev, frame.pixel_format,
+				frame.stepwise.max_width,
+				frame.stepwise.max_height);
+			printf(")\n");
+			break;
+
+		default:
+			break;
+		}
+	}
+}
+static void video_enum_formats(struct device *dev, enum v4l2_buf_type type)
+{
+	struct v4l2_fmtdesc fmt;
+	unsigned int i;
+	int ret;
+
+	for (i = 0; ; ++i) {
+		memset(&fmt, 0, sizeof fmt);
+		fmt.index = i;
+		fmt.type = type;
+		ret = ioctl(dev->fd, VIDIOC_ENUM_FMT, &fmt);
+		if (ret < 0)
+			break;
+
+		if (i != fmt.index)
+			printf("Warning: driver returned wrong format index "
+				"%u.\n", fmt.index);
+		if (type != fmt.type)
+			printf("Warning: driver returned wrong format type "
+				"%u.\n", fmt.type);
+
+		printf("\tFormat %u: %s (%08x)\n", i,
+			v4l2_fourcc_name(fmt.pixelformat), fmt.pixelformat);
+		printf("\tType: %s (%u)\n", v4l2_buf_type_name(fmt.type),
+			fmt.type);
+		printf("\tName: %.32s\n", fmt.description);
+		video_enum_frame_sizes(dev, fmt.pixelformat);
+		printf("\n");
+	}
+}
+
+static void video_enum_inputs(struct device *dev)
+{
+	struct v4l2_input input;
+	unsigned int i;
+	int ret;
+
+	for (i = 0; ; ++i) {
+		memset(&input, 0, sizeof input);
+		input.index = i;
+		ret = ioctl(dev->fd, VIDIOC_ENUMINPUT, &input);
+		if (ret < 0)
+			break;
+
+		if (i != input.index)
+			printf("Warning: driver returned wrong input index "
+				"%u.\n", input.index);
+
+		printf("\tInput %u: %s.\n", i, input.name);
+	}
+
+	printf("\n");
+}
+
+static int video_get_input(struct device *dev)
+{
+	__u32 input;
+	int ret;
+
+	ret = ioctl(dev->fd, VIDIOC_G_INPUT, &input);
+	if (ret < 0) {
+		printf("Unable to get current input: %s.\n", strerror(errno));
+		return ret;
+	}
+
+	return input;
+}
+
+static int video_set_input(struct device *dev, unsigned int input)
+{
+	__u32 _input = input;
+	int ret;
+
+	ret = ioctl(dev->fd, VIDIOC_S_INPUT, &_input);
+	if (ret < 0)
+		printf("Unable to select input %u: %s.\n", input,
+			strerror(errno));
+
+	return ret;
+}
+
+static int video_set_quality(struct device *dev, unsigned int quality)
+{
+	struct v4l2_jpegcompression jpeg;
+	int ret;
+
+	if (quality == (unsigned int)-1)
+		return 0;
+
+	memset(&jpeg, 0, sizeof jpeg);
+	jpeg.quality = quality;
+
+	ret = ioctl(dev->fd, VIDIOC_S_JPEGCOMP, &jpeg);
+	if (ret < 0) {
+		printf("Unable to set quality to %u: %s.\n", quality,
+			strerror(errno));
+		return ret;
+	}
+
+	ret = ioctl(dev->fd, VIDIOC_G_JPEGCOMP, &jpeg);
+	if (ret >= 0)
+		printf("Quality set to %u\n", jpeg.quality);
+
+	return 0;
+}
+
+static int video_prepare_capture(struct device *dev, int nbufs)
+{
+	unsigned int i;
+	int ret;
+
+	/* Allocate and map buffers. */
+	if ((ret = video_alloc_buffers(dev, nbufs)) < 0)
+		return ret;
+
+	/* Queue the buffers. */
+	for (i = 0; i < dev->nbufs; ++i) {
+		ret = video_queue_buffer(dev, i);
+		if (ret < 0)
+			return ret;
+	}
+
+	return 0;
+}
+
+static int video_do_capture(struct device *dev, unsigned int nframes,
+	unsigned int skip, unsigned int delay, const char *filename_prefix)
+{
+	char *filename;
+	struct timeval start, end, ts;
+	struct v4l2_buffer buf;
+	unsigned int size;
+	unsigned int i;
+	FILE *file;
+	double bps;
+	double fps;
+	int ret;
+
+	if (filename_prefix != NULL) {
+		filename = malloc(strlen(filename_prefix) + 12);
+		if (filename == NULL)
+			return -ENOMEM;
+	}
+
+	/* Start streaming. */
+	video_enable(dev, 1);
+
+	size = 0;
+
+	for (i = 0; i < nframes; ++i) {
+		/* Dequeue a buffer. */
+		memset(&buf, 0, sizeof buf);
+		buf.type = dev->type;
+		buf.memory = dev->memtype;
+		ret = ioctl(dev->fd, VIDIOC_DQBUF, &buf);
+		if (ret < 0) {
+			if (errno != EIO) {
+				printf("Unable to dequeue buffer (%d).\n", errno);
+				goto done;
+			}
+			buf.type = dev->type;
+			buf.memory = dev->memtype;
+			if (dev->memtype == V4L2_MEMORY_USERPTR)
+				buf.m.userptr = (unsigned long)dev->mem[i];
+		}
+
+		size += buf.bytesused;
+
+		gettimeofday(&ts, NULL);
+		printf("%u (%u) %u bytes %ld.%06ld %ld.%06ld\n", i, buf.index,
+			buf.bytesused, buf.timestamp.tv_sec,
+			buf.timestamp.tv_usec, ts.tv_sec, ts.tv_usec);
+
+		if (i == 0)
+			start = ts;
+
+		/* Save the image. */
+		if (dev->type == V4L2_BUF_TYPE_VIDEO_CAPTURE && filename_prefix && !skip) {
+			sprintf(filename, "%s-%06u.bin", filename_prefix, i);
+			file = fopen(filename, "wb");
+			if (file != NULL) {
+				ret = fwrite(dev->mem[buf.index], buf.bytesused, 1, file);
+				fclose(file);
+			}
+		}
+		if (skip)
+			--skip;
+
+		/* Requeue the buffer. */
+		if (delay > 0)
+			usleep(delay * 1000);
+
+		ret = video_queue_buffer(dev, buf.index);
+		if (ret < 0) {
+			printf("Unable to requeue buffer (%d).\n", errno);
+			goto done;
+		}
+
+		fflush(stdout);
+	}
+	gettimeofday(&end, NULL);
+
+	/* Stop streaming. */
+	video_enable(dev, 0);
+
+	end.tv_sec -= start.tv_sec;
+	end.tv_usec -= start.tv_usec;
+	if (end.tv_usec < 0) {
+		end.tv_sec--;
+		end.tv_usec += 1000000;
+	}
+
+	bps = size/(end.tv_usec+1000000.0*end.tv_sec)*1000000.0;
+	fps = (i-1)/(end.tv_usec+1000000.0*end.tv_sec)*1000000.0;
+
+	printf("Captured %u frames in %lu.%06lu seconds (%f fps, %f B/s).\n",
+		i-1, end.tv_sec, end.tv_usec, fps, bps);
+
+done:
+	free(filename);
+	return video_free_buffers(dev);
+}
+
+#define V4L_BUFFERS_DEFAULT	8
+#define V4L_BUFFERS_MAX		32
+
+static void usage(const char *argv0)
+{
+	printf("Usage: %s [options] device\n", argv0);
+	printf("Supported options:\n");
+	printf("-c, --capture[=nframes]		Capture frames\n");
+	printf("-d, --delay			Delay (in ms) before requeuing buffers\n");
+	printf("-f, --format format		Set the video format\n");
+	printf("-F, --file prefix		Read/write frames from/to disk\n");
+	printf("-h, --help			Show this help screen\n");
+	printf("-i, --input input		Select the video input\n");
+	printf("-l, --list-controls		List available controls\n");
+	printf("-n, --nbufs n			Set the number of video buffers\n");
+	printf("-p, --pause			Pause before starting the video stream\n");
+	printf("-q, --quality n			MJPEG quality (0-100)\n");
+	printf("-r, --get-control ctrl		Get control 'ctrl'\n");
+	printf("-s, --size WxH			Set the frame size\n");
+	printf("-t, --time-per-frame num/denom	Set the time per frame (eg. 1/25 = 25 fps)\n");
+	printf("-u, --userptr			Use the user pointers streaming method\n");
+	printf("-w, --set-control 'ctrl value'	Set control 'ctrl' to 'value'\n");
+	printf("    --enum-formats		Enumerate formats\n");
+	printf("    --enum-inputs		Enumerate inputs\n");
+	printf("    --no-query			Don't query capabilities on open\n");
+	printf("    --skip n			Skip the first n frames\n");
+	printf("    --sleep-forever		Sleep forever after configuring the device\n");
+}
+
+#define OPT_ENUM_FORMATS	256
+#define OPT_ENUM_INPUTS		257
+#define OPT_SKIP_FRAMES		258
+#define OPT_NO_QUERY		259
+#define OPT_SLEEP_FOREVER	260
+
+static struct option opts[] = {
+	{"capture", 2, 0, 'c'},
+	{"delay", 1, 0, 'd'},
+	{"enum-formats", 0, 0, OPT_ENUM_FORMATS},
+	{"enum-inputs", 0, 0, OPT_ENUM_INPUTS},
+	{"file", 2, 0, 'F'},
+	{"format", 1, 0, 'f'},
+	{"help", 0, 0, 'h'},
+	{"input", 1, 0, 'i'},
+	{"list-controls", 0, 0, 'l'},
+	{"nbufs", 1, 0, 'n'},
+	{"no-query", 0, 0, OPT_NO_QUERY},
+	{"pause", 0, 0, 'p'},
+	{"quality", 1, 0, 'q'},
+	{"get-control", 1, 0, 'r'},
+	{"size", 1, 0, 's'},
+	{"set-control", 1, 0, 'w'},
+	{"skip", 1, 0, OPT_SKIP_FRAMES},
+	{"sleep-forever", 0, 0, OPT_SLEEP_FOREVER},
+	{"time-per-frame", 1, 0, 't'},
+	{"userptr", 0, 0, 'u'},
+	{0, 0, 0, 0}
+};
+
+int main(int argc, char *argv[])
+{
+	struct device dev;
+	int ret;
+
+	/* Options parsings */
+	int do_file = 0, do_capture = 0, do_pause = 0;
+	int do_set_time_per_frame = 0;
+	int do_enum_formats = 0, do_set_format = 0;
+	int do_enum_inputs = 0, do_set_input = 0;
+	int do_list_controls = 0, do_get_control = 0, do_set_control = 0;
+	int do_sleep_forever = 0;
+	int no_query = 0;
+	char *endptr;
+	int c;
+
+	/* Controls */
+	int ctrl_name = 0;
+	int ctrl_value = 0;
+
+	/* Video buffers */
+	enum v4l2_memory memtype = V4L2_MEMORY_MMAP;
+	unsigned int pixelformat = V4L2_PIX_FMT_YUYV;
+	unsigned int width = 640;
+	unsigned int height = 480;
+	unsigned int nbufs = V4L_BUFFERS_DEFAULT;
+	unsigned int input = 0;
+	unsigned int skip = 0;
+	unsigned int quality = (unsigned int)-1;
+	struct v4l2_fract time_per_frame = {1, 25};
+
+	/* Capture loop */
+	unsigned int delay = 0, nframes = (unsigned int)-1;
+	const char *filename = "frame";
+
+	opterr = 0;
+	while ((c = getopt_long(argc, argv, "cd:f:Fhi:ln:pq:r:s:t:uw:", opts, NULL)) != -1) {
+
+		switch (c) {
+		case 'c':
+			do_capture = 1;
+			if (optarg)
+				nframes = atoi(optarg);
+			break;
+		case 'd':
+			delay = atoi(optarg);
+			break;
+		case 'f':
+			do_set_format = 1;
+			if (strcasecmp(optarg, "MJPEG") == 0)
+				pixelformat = V4L2_PIX_FMT_MJPEG;
+			else if (strcasecmp(optarg, "YUYV") == 0)
+				pixelformat = V4L2_PIX_FMT_YUYV;
+			else if (strcasecmp(optarg, "UYVY") == 0)
+				pixelformat = V4L2_PIX_FMT_UYVY;
+			else if (strcasecmp(optarg, "SGRBG10") == 0)
+				pixelformat = V4L2_PIX_FMT_SGRBG10;
+			else if (strcasecmp(optarg, "DV") == 0)
+				pixelformat = V4L2_PIX_FMT_DV;
+			else {
+				printf("Unsupported video format '%s'\n", optarg);
+				return 1;
+			}
+			break;
+		case 'F':
+			do_file = 1;
+			if (optarg)
+				filename = optarg;
+			break;
+		case 'h':
+			usage(argv[0]);
+			return 0;
+		case 'i':
+			do_set_input = 1;
+			input = atoi(optarg);
+			break;
+		case 'l':
+			do_list_controls = 1;
+			break;
+		case 'n':
+			nbufs = atoi(optarg);
+			if (nbufs > V4L_BUFFERS_MAX)
+				nbufs = V4L_BUFFERS_MAX;
+			break;
+		case 'p':
+			do_pause = 1;
+			break;
+		case 'q':
+			quality = atoi(optarg);
+			break;
+		case 'r':
+			ctrl_name = strtol(optarg, &endptr, 0);
+			if (*endptr != 0) {
+				printf("Invalid control name '%s'\n", optarg);
+				return 1;
+			}
+			do_get_control = 1;
+			break;
+		case 's':
+			do_set_format = 1;
+			width = strtol(optarg, &endptr, 10);
+			if (*endptr != 'x' || endptr == optarg) {
+				printf("Invalid size '%s'\n", optarg);
+				return 1;
+			}
+			height = strtol(endptr + 1, &endptr, 10);
+			if (*endptr != 0) {
+				printf("Invalid size '%s'\n", optarg);
+				return 1;
+			}
+			break;
+		case 't':
+			do_set_time_per_frame = 1;
+			time_per_frame.numerator = strtol(optarg, &endptr, 10);
+			if (*endptr != '/' || endptr == optarg) {
+				printf("Invalid time per frame '%s'\n", optarg);
+				return 1;
+			}
+			time_per_frame.denominator = strtol(endptr + 1, &endptr, 10);
+			if (*endptr != 0) {
+				printf("Invalid time per frame '%s'\n", optarg);
+				return 1;
+			}
+			break;
+		case 'u':
+			memtype = V4L2_MEMORY_USERPTR;
+			break;
+		case 'w':
+			ctrl_name = strtol(optarg, &endptr, 0);
+			if (*endptr != ' ' || endptr == optarg) {
+				printf("Invalid control name '%s'\n", optarg);
+				return 1;
+			}
+			ctrl_value = strtol(endptr + 1, &endptr, 0);
+			if (*endptr != 0) {
+				printf("Invalid control value '%s'\n", optarg);
+				return 1;
+			}
+			do_set_control = 1;
+			break;
+		case OPT_ENUM_FORMATS:
+			do_enum_formats = 1;
+			break;
+		case OPT_ENUM_INPUTS:
+			do_enum_inputs = 1;
+			break;
+		case OPT_NO_QUERY:
+			no_query = 1;
+			break;
+		case OPT_SKIP_FRAMES:
+			skip = atoi(optarg);
+			break;
+		case OPT_SLEEP_FOREVER:
+			do_sleep_forever = 1;
+			break;
+		default:
+			printf("Invalid option -%c\n", c);
+			printf("Run %s -h for help.\n", argv[0]);
+			return 1;
+		}
+	}
+
+	if (optind >= argc) {
+		usage(argv[0]);
+		return 1;
+	}
+
+	if (!do_file)
+		filename = NULL;
+
+	/* Open the video device. */
+	ret = video_open(&dev, argv[optind], no_query);
+	if (ret < 0)
+		return 1;
+
+	dev.memtype = memtype;
+
+	if (do_get_control)
+		uvc_get_control(&dev, ctrl_name);
+	if (do_set_control)
+		uvc_set_control(&dev, ctrl_name, ctrl_value);
+
+	if (do_list_controls)
+		video_list_controls(&dev);
+
+	if (do_enum_formats) {
+		printf("- Available formats:\n");
+		video_enum_formats(&dev, V4L2_BUF_TYPE_VIDEO_CAPTURE);
+		video_enum_formats(&dev, V4L2_BUF_TYPE_VIDEO_OUTPUT);
+		video_enum_formats(&dev, V4L2_BUF_TYPE_VIDEO_OVERLAY);
+	}
+
+	if (do_enum_inputs) {
+		printf("- Available inputs:\n");
+		video_enum_inputs(&dev);
+	}
+
+	if (do_set_input) {
+		video_set_input(&dev, input);
+		ret = video_get_input(&dev);
+		printf("Input %d selected\n", ret);
+	}
+
+	/* Set the video format. */
+	if (do_set_format) {
+		if (video_set_format(&dev, width, height, pixelformat) < 0) {
+			video_close(&dev);
+			return 1;
+		}
+	}
+
+	if (!no_query)
+		video_get_format(&dev);
+
+	/* Set the frame rate. */
+	if (do_set_time_per_frame) {
+		if (video_set_framerate(&dev, &time_per_frame) < 0) {
+			video_close(&dev);
+			return 1;
+		}
+	}
+
+	while (do_sleep_forever)
+		sleep(1000);
+
+	if (!do_capture) {
+		video_close(&dev);
+		return 0;
+	}
+
+	/* Set the compression quality. */
+	if (video_set_quality(&dev, quality) < 0) {
+		video_close(&dev);
+		return 1;
+	}
+
+	if (video_prepare_capture(&dev, nbufs)) {
+		video_close(&dev);
+		return 1;
+	}
+
+	if (do_pause) {
+		printf("Press enter to start capture\n");
+		getchar();
+	}
+
+	if (video_do_capture(&dev, nframes, skip, delay, filename) < 0) {
+		video_close(&dev);
+		return 1;
+	}
+
+	video_close(&dev);
+	return 0;
+}
+