/* * yavta -- Yet Another V4L2 Test Application * * Copyright (C) 2005-2010 Laurent Pinchart * * 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., */ #define __STDC_FORMAT_MACROS #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #ifndef V4L2_BUF_FLAG_ERROR #define V4L2_BUF_FLAG_ERROR 0x0040 #endif #define ARRAY_SIZE(a) (sizeof(a)/sizeof((a)[0])) enum buffer_fill_mode { BUFFER_FILL_NONE = 0, BUFFER_FILL_FRAME = 1 << 0, BUFFER_FILL_PADDING = 1 << 1, }; struct buffer { unsigned int idx; unsigned int padding[VIDEO_MAX_PLANES]; unsigned int size[VIDEO_MAX_PLANES]; void *mem[VIDEO_MAX_PLANES]; }; struct device { int fd; int opened; enum v4l2_buf_type type; enum v4l2_memory memtype; unsigned int nbufs; struct buffer *buffers; unsigned int width; unsigned int height; uint32_t buffer_output_flags; uint32_t timestamp_type; unsigned char num_planes; struct v4l2_plane_pix_format plane_fmt[VIDEO_MAX_PLANES]; void *pattern[VIDEO_MAX_PLANES]; unsigned int patternsize[VIDEO_MAX_PLANES]; bool write_data_prefix; }; static bool video_is_mplane(struct device *dev) { return dev->type == V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE || dev->type == V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE; } static bool video_is_capture(struct device *dev) { return dev->type == V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE || dev->type == V4L2_BUF_TYPE_VIDEO_CAPTURE; } static bool video_is_output(struct device *dev) { return dev->type == V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE || dev->type == V4L2_BUF_TYPE_VIDEO_OUTPUT; } static struct { enum v4l2_buf_type type; bool supported; const char *name; const char *string; } buf_types[] = { { V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, 1, "Video capture mplanes", "capture-mplane", }, { V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, 1, "Video output", "output-mplane", }, { V4L2_BUF_TYPE_VIDEO_CAPTURE, 1, "Video capture", "capture", }, { V4L2_BUF_TYPE_VIDEO_OUTPUT, 1, "Video output mplanes", "output", }, { V4L2_BUF_TYPE_VIDEO_OVERLAY, 0, "Video overlay", "overlay" }, }; static int v4l2_buf_type_from_string(const char *str) { unsigned int i; for (i = 0; i < ARRAY_SIZE(buf_types); i++) { if (!buf_types[i].supported) continue; if (strcmp(buf_types[i].string, str)) continue; return buf_types[i].type; } return -1; } static const char *v4l2_buf_type_name(enum v4l2_buf_type type) { unsigned int i; for (i = 0; i < ARRAY_SIZE(buf_types); ++i) { if (buf_types[i].type == type) return buf_types[i].name; } if (type & V4L2_BUF_TYPE_PRIVATE) return "Private"; else return "Unknown"; } static struct v4l2_format_info { const char *name; unsigned int fourcc; unsigned char n_planes; } pixel_formats[] = { { "RGB332", V4L2_PIX_FMT_RGB332, 1 }, { "RGB444", V4L2_PIX_FMT_RGB444, 1 }, { "ARGB444", V4L2_PIX_FMT_ARGB444, 1 }, { "XRGB444", V4L2_PIX_FMT_XRGB444, 1 }, { "RGB555", V4L2_PIX_FMT_RGB555, 1 }, { "ARGB555", V4L2_PIX_FMT_ARGB555, 1 }, { "XRGB555", V4L2_PIX_FMT_XRGB555, 1 }, { "RGB565", V4L2_PIX_FMT_RGB565, 1 }, { "RGB555X", V4L2_PIX_FMT_RGB555X, 1 }, { "RGB565X", V4L2_PIX_FMT_RGB565X, 1 }, { "BGR666", V4L2_PIX_FMT_BGR666, 1 }, { "BGR24", V4L2_PIX_FMT_BGR24, 1 }, { "RGB24", V4L2_PIX_FMT_RGB24, 1 }, { "BGR32", V4L2_PIX_FMT_BGR32, 1 }, { "ABGR32", V4L2_PIX_FMT_ABGR32, 1 }, { "XBGR32", V4L2_PIX_FMT_XBGR32, 1 }, { "RGB32", V4L2_PIX_FMT_RGB32, 1 }, { "ARGB32", V4L2_PIX_FMT_ARGB32, 1 }, { "XRGB32", V4L2_PIX_FMT_XRGB32, 1 }, { "Y8", V4L2_PIX_FMT_GREY, 1 }, { "Y10", V4L2_PIX_FMT_Y10, 1 }, { "Y12", V4L2_PIX_FMT_Y12, 1 }, { "Y16", V4L2_PIX_FMT_Y16, 1 }, { "UYVY", V4L2_PIX_FMT_UYVY, 1 }, { "VYUY", V4L2_PIX_FMT_VYUY, 1 }, { "YUYV", V4L2_PIX_FMT_YUYV, 1 }, { "YVYU", V4L2_PIX_FMT_YVYU, 1 }, { "NV12", V4L2_PIX_FMT_NV12, 1 }, { "NV12M", V4L2_PIX_FMT_NV12M, 2 }, { "NV21", V4L2_PIX_FMT_NV21, 1 }, { "NV21M", V4L2_PIX_FMT_NV21M, 2 }, { "NV16", V4L2_PIX_FMT_NV16, 1 }, { "NV16M", V4L2_PIX_FMT_NV16M, 2 }, { "NV61", V4L2_PIX_FMT_NV61, 1 }, { "NV61M", V4L2_PIX_FMT_NV61M, 2 }, { "NV24", V4L2_PIX_FMT_NV24, 1 }, { "NV42", V4L2_PIX_FMT_NV42, 1 }, { "YUV420M", V4L2_PIX_FMT_YUV420M, 3 }, { "SBGGR8", V4L2_PIX_FMT_SBGGR8, 1 }, { "SGBRG8", V4L2_PIX_FMT_SGBRG8, 1 }, { "SGRBG8", V4L2_PIX_FMT_SGRBG8, 1 }, { "SRGGB8", V4L2_PIX_FMT_SRGGB8, 1 }, { "SBGGR10_DPCM8", V4L2_PIX_FMT_SBGGR10DPCM8, 1 }, { "SGBRG10_DPCM8", V4L2_PIX_FMT_SGBRG10DPCM8, 1 }, { "SGRBG10_DPCM8", V4L2_PIX_FMT_SGRBG10DPCM8, 1 }, { "SRGGB10_DPCM8", V4L2_PIX_FMT_SRGGB10DPCM8, 1 }, { "SBGGR10", V4L2_PIX_FMT_SBGGR10, 1 }, { "SGBRG10", V4L2_PIX_FMT_SGBRG10, 1 }, { "SGRBG10", V4L2_PIX_FMT_SGRBG10, 1 }, { "SRGGB10", V4L2_PIX_FMT_SRGGB10, 1 }, { "SBGGR10P", V4L2_PIX_FMT_SBGGR10P, 1 }, { "SGBRG10P", V4L2_PIX_FMT_SGBRG10P, 1 }, { "SGRBG10P", V4L2_PIX_FMT_SGRBG10P, 1 }, { "SRGGB10P", V4L2_PIX_FMT_SRGGB10P, 1 }, { "SBGGR12", V4L2_PIX_FMT_SBGGR12, 1 }, { "SGBRG12", V4L2_PIX_FMT_SGBRG12, 1 }, { "SGRBG12", V4L2_PIX_FMT_SGRBG12, 1 }, { "SRGGB12", V4L2_PIX_FMT_SRGGB12, 1 }, { "DV", V4L2_PIX_FMT_DV, 1 }, { "MJPEG", V4L2_PIX_FMT_MJPEG, 1 }, { "MPEG", V4L2_PIX_FMT_MPEG, 1 }, }; static const struct v4l2_format_info *v4l2_format_by_fourcc(unsigned int fourcc) { unsigned int i; for (i = 0; i < ARRAY_SIZE(pixel_formats); ++i) { if (pixel_formats[i].fourcc == fourcc) return &pixel_formats[i]; } return NULL; } static const struct v4l2_format_info *v4l2_format_by_name(const char *name) { unsigned int i; for (i = 0; i < ARRAY_SIZE(pixel_formats); ++i) { if (strcasecmp(pixel_formats[i].name, name) == 0) return &pixel_formats[i]; } return NULL; } static const char *v4l2_format_name(unsigned int fourcc) { const struct v4l2_format_info *info; static char name[5]; unsigned int i; info = v4l2_format_by_fourcc(fourcc); if (info) return info->name; for (i = 0; i < 4; ++i) { name[i] = fourcc & 0xff; fourcc >>= 8; } name[4] = '\0'; return name; } static const struct { const char *name; enum v4l2_field field; } fields[] = { { "any", V4L2_FIELD_ANY }, { "none", V4L2_FIELD_NONE }, { "top", V4L2_FIELD_TOP }, { "bottom", V4L2_FIELD_BOTTOM }, { "interlaced", V4L2_FIELD_INTERLACED }, { "seq-tb", V4L2_FIELD_SEQ_TB }, { "seq-bt", V4L2_FIELD_SEQ_BT }, { "alternate", V4L2_FIELD_ALTERNATE }, { "interlaced-tb", V4L2_FIELD_INTERLACED_TB }, { "interlaced-bt", V4L2_FIELD_INTERLACED_BT }, }; static enum v4l2_field v4l2_field_from_string(const char *name) { unsigned int i; for (i = 0; i < ARRAY_SIZE(fields); ++i) { if (strcasecmp(fields[i].name, name) == 0) return fields[i].field; } return -1; } static const char *v4l2_field_name(enum v4l2_field field) { unsigned int i; for (i = 0; i < ARRAY_SIZE(fields); ++i) { if (fields[i].field == field) return fields[i].name; } return "unknown"; } static void video_set_buf_type(struct device *dev, enum v4l2_buf_type type) { dev->type = type; } static bool video_has_valid_buf_type(struct device *dev) { return (int)dev->type != -1; } static void video_init(struct device *dev) { memset(dev, 0, sizeof *dev); dev->fd = -1; dev->memtype = V4L2_MEMORY_MMAP; dev->buffers = NULL; dev->type = (enum v4l2_buf_type)-1; } static bool video_has_fd(struct device *dev) { return dev->fd != -1; } static int video_set_fd(struct device *dev, int fd) { if (video_has_fd(dev)) { printf("Can't set fd (already open).\n"); return -1; } dev->fd = fd; return 0; } static int video_open(struct device *dev, const char *devname) { if (video_has_fd(dev)) { printf("Can't open device (already open).\n"); return -1; } dev->fd = open(devname, O_RDWR); if (dev->fd < 0) { printf("Error opening device %s: %s (%d).\n", devname, strerror(errno), errno); return dev->fd; } printf("Device %s opened.\n", devname); dev->opened = 1; return 0; } static int video_querycap(struct device *dev, unsigned int *capabilities) { struct v4l2_capability cap; unsigned int caps; int ret; memset(&cap, 0, sizeof cap); ret = ioctl(dev->fd, VIDIOC_QUERYCAP, &cap); if (ret < 0) return 0; caps = cap.capabilities & V4L2_CAP_DEVICE_CAPS ? cap.device_caps : cap.capabilities; printf("Device `%s' on `%s' is a video %s (%s mplanes) device.\n", cap.card, cap.bus_info, caps & (V4L2_CAP_VIDEO_CAPTURE_MPLANE | V4L2_CAP_VIDEO_CAPTURE) ? "capture" : "output", caps & (V4L2_CAP_VIDEO_CAPTURE_MPLANE | V4L2_CAP_VIDEO_OUTPUT_MPLANE) ? "with" : "without"); *capabilities = caps; return 0; } static int cap_get_buf_type(unsigned int capabilities) { if (capabilities & V4L2_CAP_VIDEO_CAPTURE_MPLANE) { return V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE; } else if (capabilities & V4L2_CAP_VIDEO_OUTPUT_MPLANE) { return V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE; } else if (capabilities & V4L2_CAP_VIDEO_CAPTURE) { return V4L2_BUF_TYPE_VIDEO_CAPTURE; } else if (capabilities & V4L2_CAP_VIDEO_OUTPUT) { return V4L2_BUF_TYPE_VIDEO_OUTPUT; } else { printf("Device supports neither capture nor output.\n"); return -EINVAL; } return 0; } static void video_close(struct device *dev) { unsigned int i; for (i = 0; i < dev->num_planes; i++) free(dev->pattern[i]); free(dev->buffers); if (dev->opened) close(dev->fd); } static void video_log_status(struct device *dev) { ioctl(dev->fd, VIDIOC_LOG_STATUS); } static int query_control(struct device *dev, unsigned int id, struct v4l2_queryctrl *query) { int ret; memset(query, 0, sizeof(*query)); query->id = id; ret = ioctl(dev->fd, VIDIOC_QUERYCTRL, query); if (ret < 0 && errno != EINVAL) printf("unable to query control 0x%8.8x: %s (%d).\n", id, strerror(errno), errno); return ret; } static int get_control(struct device *dev, const struct v4l2_queryctrl *query, struct v4l2_ext_control *ctrl) { struct v4l2_ext_controls ctrls; int ret; memset(&ctrls, 0, sizeof(ctrls)); memset(ctrl, 0, sizeof(*ctrl)); ctrls.ctrl_class = V4L2_CTRL_ID2CLASS(query->id); ctrls.count = 1; ctrls.controls = ctrl; ctrl->id = query->id; if (query->type == V4L2_CTRL_TYPE_STRING) { ctrl->string = malloc(query->maximum + 1); if (ctrl->string == NULL) return -ENOMEM; ctrl->size = query->maximum + 1; } ret = ioctl(dev->fd, VIDIOC_G_EXT_CTRLS, &ctrls); if (ret != -1) return 0; if (query->type != V4L2_CTRL_TYPE_INTEGER64 && query->type != V4L2_CTRL_TYPE_STRING && (errno == EINVAL || errno == ENOTTY)) { struct v4l2_control old; old.id = query->id; ret = ioctl(dev->fd, VIDIOC_G_CTRL, &old); if (ret != -1) { ctrl->value = old.value; return 0; } } printf("unable to get control 0x%8.8x: %s (%d).\n", query->id, strerror(errno), errno); return -1; } static void set_control(struct device *dev, unsigned int id, int64_t val) { struct v4l2_ext_controls ctrls; struct v4l2_ext_control ctrl; struct v4l2_queryctrl query; int64_t old_val = val; int is_64; int ret; ret = query_control(dev, id, &query); if (ret < 0) return; is_64 = query.type == V4L2_CTRL_TYPE_INTEGER64; memset(&ctrls, 0, sizeof(ctrls)); memset(&ctrl, 0, sizeof(ctrl)); ctrls.ctrl_class = V4L2_CTRL_ID2CLASS(id); ctrls.count = 1; ctrls.controls = &ctrl; ctrl.id = id; if (is_64) ctrl.value64 = val; else ctrl.value = val; ret = ioctl(dev->fd, VIDIOC_S_EXT_CTRLS, &ctrls); if (ret != -1) { if (is_64) val = ctrl.value64; else val = ctrl.value; } else if (!is_64 && query.type != V4L2_CTRL_TYPE_STRING && (errno == EINVAL || errno == ENOTTY)) { struct v4l2_control old; old.id = id; old.value = val; ret = ioctl(dev->fd, VIDIOC_S_CTRL, &old); if (ret != -1) val = old.value; } if (ret == -1) { printf("unable to set control 0x%8.8x: %s (%d).\n", id, strerror(errno), errno); return; } printf("Control 0x%08x set to %" PRId64 ", is %" PRId64 "\n", id, old_val, val); } static int video_get_format(struct device *dev) { struct v4l2_format fmt; unsigned int i; 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; } if (video_is_mplane(dev)) { dev->width = fmt.fmt.pix_mp.width; dev->height = fmt.fmt.pix_mp.height; dev->num_planes = fmt.fmt.pix_mp.num_planes; printf("Video format: %s (%08x) %ux%u field %s, %u planes: \n", v4l2_format_name(fmt.fmt.pix_mp.pixelformat), fmt.fmt.pix_mp.pixelformat, fmt.fmt.pix_mp.width, fmt.fmt.pix_mp.height, v4l2_field_name(fmt.fmt.pix_mp.field), fmt.fmt.pix_mp.num_planes); for (i = 0; i < fmt.fmt.pix_mp.num_planes; i++) { dev->plane_fmt[i].bytesperline = fmt.fmt.pix_mp.plane_fmt[i].bytesperline; dev->plane_fmt[i].sizeimage = fmt.fmt.pix_mp.plane_fmt[i].bytesperline ? fmt.fmt.pix_mp.plane_fmt[i].sizeimage : 0; printf(" * Stride %u, buffer size %u\n", fmt.fmt.pix_mp.plane_fmt[i].bytesperline, fmt.fmt.pix_mp.plane_fmt[i].sizeimage); } } else { dev->width = fmt.fmt.pix.width; dev->height = fmt.fmt.pix.height; dev->num_planes = 1; dev->plane_fmt[0].bytesperline = fmt.fmt.pix.bytesperline; dev->plane_fmt[0].sizeimage = fmt.fmt.pix.bytesperline ? fmt.fmt.pix.sizeimage : 0; printf("Video format: %s (%08x) %ux%u (stride %u) field %s buffer size %u\n", v4l2_format_name(fmt.fmt.pix.pixelformat), fmt.fmt.pix.pixelformat, fmt.fmt.pix.width, fmt.fmt.pix.height, fmt.fmt.pix.bytesperline, v4l2_field_name(fmt.fmt.pix_mp.field), fmt.fmt.pix.sizeimage); } return 0; } static int video_set_format(struct device *dev, unsigned int w, unsigned int h, unsigned int format, unsigned int stride, unsigned int buffer_size, enum v4l2_field field, unsigned int flags) { struct v4l2_format fmt; unsigned int i; int ret; memset(&fmt, 0, sizeof fmt); fmt.type = dev->type; if (video_is_mplane(dev)) { const struct v4l2_format_info *info = v4l2_format_by_fourcc(format); fmt.fmt.pix_mp.width = w; fmt.fmt.pix_mp.height = h; fmt.fmt.pix_mp.pixelformat = format; fmt.fmt.pix_mp.field = field; fmt.fmt.pix_mp.num_planes = info->n_planes; fmt.fmt.pix_mp.flags = flags; for (i = 0; i < fmt.fmt.pix_mp.num_planes; i++) { fmt.fmt.pix_mp.plane_fmt[i].bytesperline = stride; fmt.fmt.pix_mp.plane_fmt[i].sizeimage = buffer_size; } } else { fmt.fmt.pix.width = w; fmt.fmt.pix.height = h; fmt.fmt.pix.pixelformat = format; fmt.fmt.pix.field = field; fmt.fmt.pix.bytesperline = stride; fmt.fmt.pix.sizeimage = buffer_size; fmt.fmt.pix.priv = V4L2_PIX_FMT_PRIV_MAGIC; fmt.fmt.pix.flags = flags; } ret = ioctl(dev->fd, VIDIOC_S_FMT, &fmt); if (ret < 0) { printf("Unable to set format: %s (%d).\n", strerror(errno), errno); return ret; } if (video_is_mplane(dev)) { printf("Video format set: %s (%08x) %ux%u field %s, %u planes: \n", v4l2_format_name(fmt.fmt.pix_mp.pixelformat), fmt.fmt.pix_mp.pixelformat, fmt.fmt.pix_mp.width, fmt.fmt.pix_mp.height, v4l2_field_name(fmt.fmt.pix_mp.field), fmt.fmt.pix_mp.num_planes); for (i = 0; i < fmt.fmt.pix_mp.num_planes; i++) { printf(" * Stride %u, buffer size %u\n", fmt.fmt.pix_mp.plane_fmt[i].bytesperline, fmt.fmt.pix_mp.plane_fmt[i].sizeimage); } } else { printf("Video format set: %s (%08x) %ux%u (stride %u) field %s buffer size %u\n", v4l2_format_name(fmt.fmt.pix.pixelformat), fmt.fmt.pix.pixelformat, fmt.fmt.pix.width, fmt.fmt.pix.height, fmt.fmt.pix.bytesperline, v4l2_field_name(fmt.fmt.pix.field), 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: %s (%d).\n", strerror(errno), 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: %s (%d).\n", strerror(errno), errno); return ret; } ret = ioctl(dev->fd, VIDIOC_G_PARM, &parm); if (ret < 0) { printf("Unable to get frame rate: %s (%d).\n", strerror(errno), 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_buffer_mmap(struct device *dev, struct buffer *buffer, struct v4l2_buffer *v4l2buf) { unsigned int length; unsigned int offset; unsigned int i; for (i = 0; i < dev->num_planes; i++) { if (video_is_mplane(dev)) { length = v4l2buf->m.planes[i].length; offset = v4l2buf->m.planes[i].m.mem_offset; } else { length = v4l2buf->length; offset = v4l2buf->m.offset; } buffer->mem[i] = mmap(0, length, PROT_READ | PROT_WRITE, MAP_SHARED, dev->fd, offset); if (buffer->mem[i] == MAP_FAILED) { printf("Unable to map buffer %u/%u: %s (%d)\n", buffer->idx, i, strerror(errno), errno); return -1; } buffer->size[i] = length; buffer->padding[i] = 0; printf("Buffer %u/%u mapped at address %p.\n", buffer->idx, i, buffer->mem[i]); } return 0; } static int video_buffer_munmap(struct device *dev, struct buffer *buffer) { unsigned int i; int ret; for (i = 0; i < dev->num_planes; i++) { ret = munmap(buffer->mem[i], buffer->size[i]); if (ret < 0) { printf("Unable to unmap buffer %u/%u: %s (%d)\n", buffer->idx, i, strerror(errno), errno); } buffer->mem[i] = NULL; } return 0; } static int video_buffer_alloc_userptr(struct device *dev, struct buffer *buffer, struct v4l2_buffer *v4l2buf, unsigned int offset, unsigned int padding) { int page_size = getpagesize(); unsigned int length; unsigned int i; int ret; for (i = 0; i < dev->num_planes; i++) { if (video_is_mplane(dev)) length = v4l2buf->m.planes[i].length; else length = v4l2buf->length; ret = posix_memalign(&buffer->mem[i], page_size, length + offset + padding); if (ret < 0) { printf("Unable to allocate buffer %u/%u (%d)\n", buffer->idx, i, ret); return -ENOMEM; } buffer->mem[i] += offset; buffer->size[i] = length; buffer->padding[i] = padding; printf("Buffer %u/%u allocated at address %p.\n", buffer->idx, i, buffer->mem[i]); } return 0; } static void video_buffer_free_userptr(struct device *dev, struct buffer *buffer) { unsigned int i; for (i = 0; i < dev->num_planes; i++) { free(buffer->mem[i]); buffer->mem[i] = NULL; } } static void video_buffer_fill_userptr(struct device *dev, struct buffer *buffer, struct v4l2_buffer *v4l2buf) { unsigned int i; if (!video_is_mplane(dev)) { v4l2buf->m.userptr = (unsigned long)buffer->mem[0]; return; } for (i = 0; i < dev->num_planes; i++) v4l2buf->m.planes[i].m.userptr = (unsigned long)buffer->mem[i]; } static void get_ts_flags(uint32_t flags, const char **ts_type, const char **ts_source) { switch (flags & V4L2_BUF_FLAG_TIMESTAMP_MASK) { case V4L2_BUF_FLAG_TIMESTAMP_UNKNOWN: *ts_type = "unk"; break; case V4L2_BUF_FLAG_TIMESTAMP_MONOTONIC: *ts_type = "mono"; break; case V4L2_BUF_FLAG_TIMESTAMP_COPY: *ts_type = "copy"; break; default: *ts_type = "inv"; } switch (flags & V4L2_BUF_FLAG_TSTAMP_SRC_MASK) { case V4L2_BUF_FLAG_TSTAMP_SRC_EOF: *ts_source = "EoF"; break; case V4L2_BUF_FLAG_TSTAMP_SRC_SOE: *ts_source = "SoE"; break; default: *ts_source = "inv"; } } static int video_alloc_buffers(struct device *dev, int nbufs, unsigned int offset, unsigned int padding) { struct v4l2_plane planes[VIDEO_MAX_PLANES]; struct v4l2_requestbuffers rb; struct v4l2_buffer buf; struct buffer *buffers; 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: %s (%d).\n", strerror(errno), errno); return ret; } printf("%u buffers requested.\n", rb.count); buffers = malloc(rb.count * sizeof buffers[0]); if (buffers == NULL) return -ENOMEM; /* Map the buffers. */ for (i = 0; i < rb.count; ++i) { const char *ts_type, *ts_source; memset(&buf, 0, sizeof buf); memset(planes, 0, sizeof planes); buf.index = i; buf.type = dev->type; buf.memory = dev->memtype; buf.length = VIDEO_MAX_PLANES; buf.m.planes = planes; ret = ioctl(dev->fd, VIDIOC_QUERYBUF, &buf); if (ret < 0) { printf("Unable to query buffer %u: %s (%d).\n", i, strerror(errno), errno); return ret; } get_ts_flags(buf.flags, &ts_type, &ts_source); printf("length: %u offset: %u timestamp type/source: %s/%s\n", buf.length, buf.m.offset, ts_type, ts_source); buffers[i].idx = i; switch (dev->memtype) { case V4L2_MEMORY_MMAP: ret = video_buffer_mmap(dev, &buffers[i], &buf); break; case V4L2_MEMORY_USERPTR: ret = video_buffer_alloc_userptr(dev, &buffers[i], &buf, offset, padding); break; default: break; } if (ret < 0) return ret; } dev->timestamp_type = buf.flags & V4L2_BUF_FLAG_TIMESTAMP_MASK; dev->buffers = buffers; dev->nbufs = rb.count; 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; for (i = 0; i < dev->nbufs; ++i) { switch (dev->memtype) { case V4L2_MEMORY_MMAP: ret = video_buffer_munmap(dev, &dev->buffers[i]); if (ret < 0) return ret; break; case V4L2_MEMORY_USERPTR: video_buffer_free_userptr(dev, &dev->buffers[i]); break; default: break; } } 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: %s (%d).\n", strerror(errno), errno); return ret; } printf("%u buffers released.\n", dev->nbufs); free(dev->buffers); dev->nbufs = 0; dev->buffers = NULL; return 0; } static int video_queue_buffer(struct device *dev, int index, enum buffer_fill_mode fill) { struct v4l2_buffer buf; struct v4l2_plane planes[VIDEO_MAX_PLANES]; int ret; unsigned int i; memset(&buf, 0, sizeof buf); memset(&planes, 0, sizeof planes); buf.index = index; buf.type = dev->type; buf.memory = dev->memtype; if (video_is_output(dev)) { buf.flags = dev->buffer_output_flags; if (dev->timestamp_type == V4L2_BUF_FLAG_TIMESTAMP_COPY) { struct timespec ts; clock_gettime(CLOCK_MONOTONIC, &ts); buf.timestamp.tv_sec = ts.tv_sec; buf.timestamp.tv_usec = ts.tv_nsec / 1000; } } if (video_is_mplane(dev)) { buf.m.planes = planes; buf.length = dev->num_planes; } if (dev->memtype == V4L2_MEMORY_USERPTR) { if (video_is_mplane(dev)) { for (i = 0; i < dev->num_planes; i++) { buf.m.planes[i].m.userptr = (unsigned long) dev->buffers[index].mem[i]; buf.m.planes[i].length = dev->buffers[index].size[i]; } } else { buf.m.userptr = (unsigned long)dev->buffers[index].mem[0]; buf.length = dev->buffers[index].size[0]; } } for (i = 0; i < dev->num_planes; i++) { if (video_is_output(dev)) { if (video_is_mplane(dev)) buf.m.planes[i].bytesused = dev->patternsize[i]; else buf.bytesused = dev->patternsize[i]; memcpy(dev->buffers[buf.index].mem[i], dev->pattern[i], dev->patternsize[i]); } else { if (fill & BUFFER_FILL_FRAME) memset(dev->buffers[buf.index].mem[i], 0x55, dev->buffers[index].size[i]); if (fill & BUFFER_FILL_PADDING) memset(dev->buffers[buf.index].mem[i] + dev->buffers[index].size[i], 0x55, dev->buffers[index].padding[i]); } } ret = ioctl(dev->fd, VIDIOC_QBUF, &buf); if (ret < 0) printf("Unable to queue buffer: %s (%d).\n", strerror(errno), 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: %s (%d).\n", enable ? "start" : "stop", strerror(errno), errno); return ret; } return 0; } static void video_query_menu(struct device *dev, struct v4l2_queryctrl *query, unsigned int value) { struct v4l2_querymenu menu; int ret; for (menu.index = query->minimum; menu.index <= (unsigned)query->maximum; menu.index++) { menu.id = query->id; ret = ioctl(dev->fd, VIDIOC_QUERYMENU, &menu); if (ret < 0) continue; if (query->type == V4L2_CTRL_TYPE_MENU) printf(" %u: %.32s%s\n", menu.index, menu.name, menu.index == value ? " (*)" : ""); else printf(" %u: %lld%s\n", menu.index, menu.value, menu.index == value ? " (*)" : ""); }; } static int video_print_control(struct device *dev, unsigned int id, bool full) { struct v4l2_ext_control ctrl; struct v4l2_queryctrl query; char sval[24]; char *current = sval; int ret; ret = query_control(dev, id, &query); if (ret < 0) return ret; if (query.flags & V4L2_CTRL_FLAG_DISABLED) return query.id; if (query.type == V4L2_CTRL_TYPE_CTRL_CLASS) { printf("--- %s (class 0x%08x) ---\n", query.name, query.id); return query.id; } ret = get_control(dev, &query, &ctrl); if (ret < 0) strcpy(sval, "n/a"); else if (query.type == V4L2_CTRL_TYPE_INTEGER64) sprintf(sval, "%lld", ctrl.value64); else if (query.type == V4L2_CTRL_TYPE_STRING) current = ctrl.string; else sprintf(sval, "%d", ctrl.value); if (full) 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, current); else printf("control 0x%08x current %s.\n", query.id, current); if (query.type == V4L2_CTRL_TYPE_STRING) free(ctrl.string); if (!full) return query.id; if (query.type == V4L2_CTRL_TYPE_MENU || query.type == V4L2_CTRL_TYPE_INTEGER_MENU) video_query_menu(dev, &query, ctrl.value); return query.id; } static void video_list_controls(struct device *dev) { unsigned int nctrls = 0; unsigned int id; int ret; #ifndef V4L2_CTRL_FLAG_NEXT_CTRL unsigned int i; for (i = V4L2_CID_BASE; i <= V4L2_CID_LASTP1; ++i) { id = i; #else id = 0; while (1) { id |= V4L2_CTRL_FLAG_NEXT_CTRL; #endif ret = video_print_control(dev, id, true); if (ret < 0) break; id = ret; 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_format_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 (%d).\n", strerror(errno), 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 (%d).\n", input, strerror(errno), 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 (%d).\n", quality, strerror(errno), 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_load_test_pattern(struct device *dev, const char *filename) { unsigned int plane; unsigned int size; int fd = -1; int ret; if (filename != NULL) { fd = open(filename, O_RDONLY); if (fd == -1) { printf("Unable to open test pattern file '%s': %s (%d).\n", filename, strerror(errno), errno); return -errno; } } /* Load or generate the test pattern */ for (plane = 0; plane < dev->num_planes; plane++) { size = dev->buffers[0].size[plane]; dev->pattern[plane] = malloc(size); if (dev->pattern[plane] == NULL) { ret = -ENOMEM; goto done; } if (filename != NULL) { ret = read(fd, dev->pattern[plane], size); if (ret != (int)size && dev->plane_fmt[plane].bytesperline != 0) { printf("Test pattern file size %u doesn't match image size %u\n", ret, size); ret = -EINVAL; goto done; } } else { uint8_t *data = dev->pattern[plane]; unsigned int i; if (dev->plane_fmt[plane].bytesperline == 0) { printf("Compressed format detected for plane %u and no test pattern filename given.\n" "The test pattern can't be generated automatically.\n", plane); ret = -EINVAL; goto done; } for (i = 0; i < dev->plane_fmt[plane].sizeimage; ++i) *data++ = i; } dev->patternsize[plane] = size; } ret = 0; done: if (fd != -1) close(fd); return ret; } static int video_prepare_capture(struct device *dev, int nbufs, unsigned int offset, const char *filename, enum buffer_fill_mode fill) { unsigned int padding; int ret; /* Allocate and map buffers. */ padding = (fill & BUFFER_FILL_PADDING) ? 4096 : 0; if ((ret = video_alloc_buffers(dev, nbufs, offset, padding)) < 0) return ret; if (video_is_output(dev)) { ret = video_load_test_pattern(dev, filename); if (ret < 0) return ret; } return 0; } static int video_queue_all_buffers(struct device *dev, enum buffer_fill_mode fill) { unsigned int i; int ret; /* Queue the buffers. */ for (i = 0; i < dev->nbufs; ++i) { ret = video_queue_buffer(dev, i, fill); if (ret < 0) return ret; } return 0; } static void video_verify_buffer(struct device *dev, struct v4l2_buffer *buf) { struct buffer *buffer = &dev->buffers[buf->index]; unsigned int plane; unsigned int i; for (plane = 0; plane < dev->num_planes; ++plane) { const uint8_t *data = buffer->mem[plane] + buffer->size[plane]; unsigned int errors = 0; unsigned int dirty = 0; unsigned int length; if (video_is_mplane(dev)) length = buf->m.planes[plane].bytesused; else length = buf->bytesused; if (dev->plane_fmt[plane].sizeimage && dev->plane_fmt[plane].sizeimage != length) printf("Warning: bytes used %u != image size %u for plane %u\n", length, dev->plane_fmt[plane].sizeimage, plane); if (buffer->padding[plane] == 0) continue; for (i = 0; i < buffer->padding[plane]; ++i) { if (data[i] != 0x55) { errors++; dirty = i + 1; } } if (errors) { printf("Warning: %u bytes overwritten among %u first padding bytes for plane %u\n", errors, dirty, plane); dirty = (dirty + 15) & ~15; dirty = dirty > 32 ? 32 : dirty; for (i = 0; i < dirty; ++i) { printf("%02x ", data[i]); if (i % 16 == 15) printf("\n"); } } } } static void video_save_image(struct device *dev, struct v4l2_buffer *buf, const char *pattern, unsigned int sequence) { unsigned int size; unsigned int i; char *filename; const char *p; bool append; int ret = 0; int fd; size = strlen(pattern); filename = malloc(size + 12); if (filename == NULL) return; p = strchr(pattern, '#'); if (p != NULL) { sprintf(filename, "%.*s%06u%s", (int)(p - pattern), pattern, sequence, p + 1); append = false; } else { strcpy(filename, pattern); append = true; } fd = open(filename, O_CREAT | O_WRONLY | (append ? O_APPEND : O_TRUNC), S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH | S_IWOTH); free(filename); if (fd == -1) return; for (i = 0; i < dev->num_planes; i++) { void *data = dev->buffers[buf->index].mem[i]; unsigned int length; if (video_is_mplane(dev)) { length = buf->m.planes[i].bytesused; if (!dev->write_data_prefix) { data += buf->m.planes[i].data_offset; length -= buf->m.planes[i].data_offset; } } else { length = buf->bytesused; } ret = write(fd, data, length); if (ret < 0) { printf("write error: %s (%d)\n", strerror(errno), errno); break; } else if (ret != (int)length) printf("write error: only %d bytes written instead of %u\n", ret, length); } close(fd); } unsigned int video_buffer_bytes_used(struct device *dev, struct v4l2_buffer *buf) { unsigned int bytesused = 0; unsigned int i; if (!video_is_mplane(dev)) return buf->bytesused; for (i = 0; i < dev->num_planes; i++) bytesused += buf->m.planes[i].bytesused; return bytesused; } static int video_do_capture(struct device *dev, unsigned int nframes, unsigned int skip, unsigned int delay, const char *pattern, int do_requeue_last, int do_queue_late, enum buffer_fill_mode fill) { struct v4l2_plane planes[VIDEO_MAX_PLANES]; struct v4l2_buffer buf; struct timespec start; struct timeval last; struct timespec ts; unsigned int size; unsigned int i; double bps; double fps; int ret; /* Start streaming. */ ret = video_enable(dev, 1); if (ret < 0) goto done; if (do_queue_late) video_queue_all_buffers(dev, fill); size = 0; clock_gettime(CLOCK_MONOTONIC, &start); last.tv_sec = start.tv_sec; last.tv_usec = start.tv_nsec / 1000; for (i = 0; i < nframes; ++i) { const char *ts_type, *ts_source; /* Dequeue a buffer. */ memset(&buf, 0, sizeof buf); memset(planes, 0, sizeof planes); buf.type = dev->type; buf.memory = dev->memtype; buf.length = VIDEO_MAX_PLANES; buf.m.planes = planes; ret = ioctl(dev->fd, VIDIOC_DQBUF, &buf); if (ret < 0) { if (errno != EIO) { printf("Unable to dequeue buffer: %s (%d).\n", strerror(errno), errno); goto done; } buf.type = dev->type; buf.memory = dev->memtype; if (dev->memtype == V4L2_MEMORY_USERPTR) video_buffer_fill_userptr(dev, &dev->buffers[i], &buf); } if (video_is_capture(dev)) video_verify_buffer(dev, &buf); size += buf.bytesused; fps = (buf.timestamp.tv_sec - last.tv_sec) * 1000000 + buf.timestamp.tv_usec - last.tv_usec; fps = fps ? 1000000.0 / fps : 0.0; clock_gettime(CLOCK_MONOTONIC, &ts); get_ts_flags(buf.flags, &ts_type, &ts_source); printf("%u (%u) [%c] %s %u %u B %ld.%06ld %ld.%06ld %.3f fps ts %s/%s\n", i, buf.index, (buf.flags & V4L2_BUF_FLAG_ERROR) ? 'E' : '-', v4l2_field_name(buf.field), buf.sequence, video_buffer_bytes_used(dev, &buf), buf.timestamp.tv_sec, buf.timestamp.tv_usec, ts.tv_sec, ts.tv_nsec/1000, fps, ts_type, ts_source); last = buf.timestamp; /* Save the image. */ if (video_is_capture(dev) && pattern && !skip) video_save_image(dev, &buf, pattern, i); if (skip) --skip; /* Requeue the buffer. */ if (delay > 0) usleep(delay * 1000); fflush(stdout); if (i == nframes - dev->nbufs && !do_requeue_last) continue; ret = video_queue_buffer(dev, buf.index, fill); if (ret < 0) { printf("Unable to requeue buffer: %s (%d).\n", strerror(errno), errno); goto done; } } /* Stop streaming. */ video_enable(dev, 0); if (nframes == 0) { printf("No frames captured.\n"); goto done; } if (ts.tv_sec == start.tv_sec && ts.tv_nsec == start.tv_nsec) goto done; ts.tv_sec -= start.tv_sec; ts.tv_nsec -= start.tv_nsec; if (ts.tv_nsec < 0) { ts.tv_sec--; ts.tv_nsec += 1000000000; } bps = size/(ts.tv_nsec/1000.0+1000000.0*ts.tv_sec)*1000000.0; fps = i/(ts.tv_nsec/1000.0+1000000.0*ts.tv_sec)*1000000.0; printf("Captured %u frames in %lu.%06lu seconds (%f fps, %f B/s).\n", i, ts.tv_sec, ts.tv_nsec/1000, fps, bps); done: 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("-B, --buffer-type Buffer type (\"capture\", \"output\",\n"); printf(" \"capture-mplane\" or \"output-mplane\")\n"); printf("-c, --capture[=nframes] Capture frames\n"); printf("-C, --check-overrun Verify dequeued frames for buffer overrun\n"); printf("-d, --delay Delay (in ms) before requeuing buffers\n"); printf("-f, --format format Set the video format\n"); printf("-F, --file[=name] Read/write frames from/to disk\n"); printf("\tFor video capture devices, the first '#' character in the file name is\n"); printf("\texpanded to the frame sequence number. The default file name is\n"); printf("\t'frame-#.bin'.\n"); printf("-h, --help Show this help screen\n"); printf("-i, --input input Select the video input\n"); printf("-I, --fill-frames Fill frames with check pattern before queuing them\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("-R, --realtime=[priority] Enable realtime RR scheduling\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(" --buffer-prefix Write portions of buffer before data_offset\n"); printf(" --buffer-size Buffer size in bytes\n"); printf(" --enum-formats Enumerate formats\n"); printf(" --enum-inputs Enumerate inputs\n"); printf(" --fd Use a numeric file descriptor insted of a device\n"); printf(" --field Interlaced format field order\n"); printf(" --log-status Log device status\n"); printf(" --no-query Don't query capabilities on open\n"); printf(" --offset User pointer buffer offset from page start\n"); printf(" --premultiplied Color components are premultiplied by alpha value\n"); printf(" --queue-late Queue buffers after streamon, not before\n"); printf(" --requeue-last Requeue the last buffers before streamoff\n"); printf(" --timestamp-source Set timestamp source on output buffers [eof, soe]\n"); printf(" --skip n Skip the first n frames\n"); printf(" --sleep-forever Sleep forever after configuring the device\n"); printf(" --stride value Line stride in bytes\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 #define OPT_USERPTR_OFFSET 261 #define OPT_REQUEUE_LAST 262 #define OPT_STRIDE 263 #define OPT_FD 264 #define OPT_TSTAMP_SRC 265 #define OPT_FIELD 266 #define OPT_LOG_STATUS 267 #define OPT_BUFFER_SIZE 268 #define OPT_PREMULTIPLIED 269 #define OPT_QUEUE_LATE 270 #define OPT_DATA_PREFIX 271 static struct option opts[] = { {"buffer-size", 1, 0, OPT_BUFFER_SIZE}, {"buffer-type", 1, 0, 'B'}, {"capture", 2, 0, 'c'}, {"check-overrun", 0, 0, 'C'}, {"data-prefix", 0, 0, OPT_DATA_PREFIX}, {"delay", 1, 0, 'd'}, {"enum-formats", 0, 0, OPT_ENUM_FORMATS}, {"enum-inputs", 0, 0, OPT_ENUM_INPUTS}, {"fd", 1, 0, OPT_FD}, {"field", 1, 0, OPT_FIELD}, {"file", 2, 0, 'F'}, {"fill-frames", 0, 0, 'I'}, {"format", 1, 0, 'f'}, {"help", 0, 0, 'h'}, {"input", 1, 0, 'i'}, {"list-controls", 0, 0, 'l'}, {"log-status", 0, 0, OPT_LOG_STATUS}, {"nbufs", 1, 0, 'n'}, {"no-query", 0, 0, OPT_NO_QUERY}, {"offset", 1, 0, OPT_USERPTR_OFFSET}, {"pause", 0, 0, 'p'}, {"premultiplied", 0, 0, OPT_PREMULTIPLIED}, {"quality", 1, 0, 'q'}, {"queue-late", 0, 0, OPT_QUEUE_LATE}, {"get-control", 1, 0, 'r'}, {"requeue-last", 0, 0, OPT_REQUEUE_LAST}, {"realtime", 2, 0, 'R'}, {"size", 1, 0, 's'}, {"set-control", 1, 0, 'w'}, {"skip", 1, 0, OPT_SKIP_FRAMES}, {"sleep-forever", 0, 0, OPT_SLEEP_FOREVER}, {"stride", 1, 0, OPT_STRIDE}, {"time-per-frame", 1, 0, 't'}, {"timestamp-source", 1, 0, OPT_TSTAMP_SRC}, {"userptr", 0, 0, 'u'}, {0, 0, 0, 0} }; int main(int argc, char *argv[]) { struct sched_param sched; struct device dev; int ret; /* Options parsings */ const struct v4l2_format_info *info; /* Use video capture by default if query isn't done. */ unsigned int capabilities = V4L2_CAP_VIDEO_CAPTURE; 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, do_requeue_last = 0; int do_rt = 0, do_log_status = 0; int no_query = 0, do_queue_late = 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 fmt_flags = 0; unsigned int width = 640; unsigned int height = 480; unsigned int stride = 0; unsigned int buffer_size = 0; unsigned int nbufs = V4L_BUFFERS_DEFAULT; unsigned int input = 0; unsigned int skip = 0; unsigned int quality = (unsigned int)-1; unsigned int userptr_offset = 0; struct v4l2_fract time_per_frame = {1, 25}; enum v4l2_field field = V4L2_FIELD_ANY; /* Capture loop */ enum buffer_fill_mode fill_mode = BUFFER_FILL_NONE; unsigned int delay = 0, nframes = (unsigned int)-1; const char *filename = "frame-#.bin"; unsigned int rt_priority = 1; video_init(&dev); opterr = 0; while ((c = getopt_long(argc, argv, "B:c::Cd:f:F::hi:Iln:pq:r:R::s:t:uw:", opts, NULL)) != -1) { switch (c) { case 'B': ret = v4l2_buf_type_from_string(optarg); if (ret == -1) { printf("Bad buffer type \"%s\"\n", optarg); return 1; } video_set_buf_type(&dev, ret); break; case 'c': do_capture = 1; if (optarg) nframes = atoi(optarg); break; case 'C': fill_mode |= BUFFER_FILL_PADDING; break; case 'd': delay = atoi(optarg); break; case 'f': do_set_format = 1; info = v4l2_format_by_name(optarg); if (info == NULL) { printf("Unsupported video format '%s'\n", optarg); return 1; } pixelformat = info->fourcc; 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 'I': fill_mode |= BUFFER_FILL_FRAME; 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 'R': do_rt = 1; if (optarg) rt_priority = atoi(optarg); 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_BUFFER_SIZE: buffer_size = atoi(optarg); break; case OPT_ENUM_FORMATS: do_enum_formats = 1; break; case OPT_ENUM_INPUTS: do_enum_inputs = 1; break; case OPT_FD: ret = atoi(optarg); if (ret < 0) { printf("Bad file descriptor %d\n", ret); return 1; } printf("Using file descriptor %d\n", ret); video_set_fd(&dev, ret); break; case OPT_FIELD: field = v4l2_field_from_string(optarg); if (field == (enum v4l2_field)-1) { printf("Invalid field order '%s'\n", optarg); return 1; } break; case OPT_LOG_STATUS: do_log_status = 1; break; case OPT_NO_QUERY: no_query = 1; break; case OPT_PREMULTIPLIED: fmt_flags |= V4L2_PIX_FMT_FLAG_PREMUL_ALPHA; break; case OPT_QUEUE_LATE: do_queue_late = 1; break; case OPT_REQUEUE_LAST: do_requeue_last = 1; break; case OPT_SKIP_FRAMES: skip = atoi(optarg); break; case OPT_SLEEP_FOREVER: do_sleep_forever = 1; break; case OPT_STRIDE: stride = atoi(optarg); break; case OPT_TSTAMP_SRC: if (!strcmp(optarg, "eof")) { dev.buffer_output_flags |= V4L2_BUF_FLAG_TSTAMP_SRC_EOF; } else if (!strcmp(optarg, "soe")) { dev.buffer_output_flags |= V4L2_BUF_FLAG_TSTAMP_SRC_SOE; } else { printf("Invalid timestamp source %s\n", optarg); return 1; } break; case OPT_USERPTR_OFFSET: userptr_offset = atoi(optarg); break; case OPT_DATA_PREFIX: dev.write_data_prefix = true; break; default: printf("Invalid option -%c\n", c); printf("Run %s -h for help.\n", argv[0]); return 1; } } if ((fill_mode & BUFFER_FILL_PADDING) && memtype != V4L2_MEMORY_USERPTR) { printf("Buffer overrun can only be checked in USERPTR mode.\n"); return 1; } if (!do_file) filename = NULL; if (!video_has_fd(&dev)) { if (optind >= argc) { usage(argv[0]); return 1; } ret = video_open(&dev, argv[optind]); if (ret < 0) return 1; } if (!no_query) { ret = video_querycap(&dev, &capabilities); if (ret < 0) return 1; } ret = cap_get_buf_type(capabilities); if (ret < 0) return 1; if (!video_has_valid_buf_type(&dev)) video_set_buf_type(&dev, ret); dev.memtype = memtype; if (do_log_status) video_log_status(&dev); if (do_get_control) video_print_control(&dev, ctrl_name, false); if (do_set_control) 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_CAPTURE_MPLANE); video_enum_formats(&dev, V4L2_BUF_TYPE_VIDEO_OUTPUT); video_enum_formats(&dev, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE); 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, stride, buffer_size, field, fmt_flags) < 0) { video_close(&dev); return 1; } } if (!no_query || do_capture) 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, userptr_offset, filename, fill_mode)) { video_close(&dev); return 1; } if (!do_queue_late && video_queue_all_buffers(&dev, fill_mode)) { video_close(&dev); return 1; } if (do_pause) { printf("Press enter to start capture\n"); getchar(); } if (do_rt) { memset(&sched, 0, sizeof sched); sched.sched_priority = rt_priority; ret = sched_setscheduler(0, SCHED_RR, &sched); if (ret < 0) printf("Failed to select RR scheduler: %s (%d)\n", strerror(errno), errno); } if (video_do_capture(&dev, nframes, skip, delay, filename, do_requeue_last, do_queue_late, fill_mode) < 0) { video_close(&dev); return 1; } video_close(&dev); return 0; }