363 lines
12 KiB
C++
363 lines
12 KiB
C++
/**************************************************************************/
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/* camera_feed_linux.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#include "camera_feed_linux.h"
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#include <fcntl.h>
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#include <sys/ioctl.h>
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#include <sys/mman.h>
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#include <unistd.h>
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void CameraFeedLinux::update_buffer_thread_func(void *p_func) {
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if (p_func) {
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CameraFeedLinux *camera_feed_linux = (CameraFeedLinux *)p_func;
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camera_feed_linux->_update_buffer();
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}
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}
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void CameraFeedLinux::_update_buffer() {
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while (!exit_flag.is_set()) {
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_read_frame();
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usleep(10000);
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}
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}
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void CameraFeedLinux::_query_device(const String &p_device_name) {
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file_descriptor = open(p_device_name.ascii(), O_RDWR | O_NONBLOCK, 0);
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ERR_FAIL_COND_MSG(file_descriptor == -1, vformat("Cannot open file descriptor for %s. Error: %d.", p_device_name, errno));
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struct v4l2_capability capability;
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if (ioctl(file_descriptor, VIDIOC_QUERYCAP, &capability) == -1) {
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ERR_FAIL_MSG(vformat("Cannot query device. Error: %d.", errno));
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}
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name = String((char *)capability.card);
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for (int index = 0;; index++) {
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struct v4l2_fmtdesc fmtdesc;
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memset(&fmtdesc, 0, sizeof(fmtdesc));
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fmtdesc.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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fmtdesc.index = index;
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if (ioctl(file_descriptor, VIDIOC_ENUM_FMT, &fmtdesc) == -1) {
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break;
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}
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for (int res_index = 0;; res_index++) {
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struct v4l2_frmsizeenum frmsizeenum;
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memset(&frmsizeenum, 0, sizeof(frmsizeenum));
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frmsizeenum.pixel_format = fmtdesc.pixelformat;
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frmsizeenum.index = res_index;
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if (ioctl(file_descriptor, VIDIOC_ENUM_FRAMESIZES, &frmsizeenum) == -1) {
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break;
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}
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for (int framerate_index = 0;; framerate_index++) {
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struct v4l2_frmivalenum frmivalenum;
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memset(&frmivalenum, 0, sizeof(frmivalenum));
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frmivalenum.pixel_format = fmtdesc.pixelformat;
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frmivalenum.width = frmsizeenum.discrete.width;
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frmivalenum.height = frmsizeenum.discrete.height;
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frmivalenum.index = framerate_index;
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if (ioctl(file_descriptor, VIDIOC_ENUM_FRAMEINTERVALS, &frmivalenum) == -1) {
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if (framerate_index == 0) {
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_add_format(fmtdesc, frmsizeenum.discrete, -1, 1);
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}
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break;
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}
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_add_format(fmtdesc, frmsizeenum.discrete, frmivalenum.discrete.numerator, frmivalenum.discrete.denominator);
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}
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}
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}
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close(file_descriptor);
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}
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void CameraFeedLinux::_add_format(v4l2_fmtdesc p_description, v4l2_frmsize_discrete p_size, int p_frame_numerator, int p_frame_denominator) {
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FeedFormat feed_format;
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feed_format.width = p_size.width;
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feed_format.height = p_size.height;
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feed_format.format = String((char *)p_description.description);
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feed_format.frame_numerator = p_frame_numerator;
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feed_format.frame_denominator = p_frame_denominator;
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feed_format.pixel_format = p_description.pixelformat;
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print_verbose(vformat("%s %dx%d@%d/%dfps", (char *)p_description.description, p_size.width, p_size.height, p_frame_denominator, p_frame_numerator));
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formats.push_back(feed_format);
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}
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bool CameraFeedLinux::_request_buffers() {
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struct v4l2_requestbuffers requestbuffers;
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memset(&requestbuffers, 0, sizeof(requestbuffers));
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requestbuffers.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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requestbuffers.memory = V4L2_MEMORY_MMAP;
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requestbuffers.count = 4;
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if (ioctl(file_descriptor, VIDIOC_REQBUFS, &requestbuffers) == -1) {
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ERR_FAIL_V_MSG(false, vformat("ioctl(VIDIOC_REQBUFS) error: %d.", errno));
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}
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ERR_FAIL_COND_V_MSG(requestbuffers.count < 2, false, "Not enough buffers granted.");
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buffer_count = requestbuffers.count;
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buffers = new StreamingBuffer[buffer_count];
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for (unsigned int i = 0; i < buffer_count; i++) {
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struct v4l2_buffer buffer;
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memset(&buffer, 0, sizeof(buffer));
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buffer.type = requestbuffers.type;
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buffer.memory = V4L2_MEMORY_MMAP;
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buffer.index = i;
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if (ioctl(file_descriptor, VIDIOC_QUERYBUF, &buffer) == -1) {
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delete[] buffers;
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ERR_FAIL_V_MSG(false, vformat("ioctl(VIDIOC_QUERYBUF) error: %d.", errno));
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}
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buffers[i].length = buffer.length;
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buffers[i].start = mmap(NULL, buffer.length, PROT_READ | PROT_WRITE, MAP_SHARED, file_descriptor, buffer.m.offset);
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if (buffers[i].start == MAP_FAILED) {
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for (unsigned int b = 0; b < i; b++) {
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_unmap_buffers(i);
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}
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delete[] buffers;
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ERR_FAIL_V_MSG(false, "Mapping buffers failed.");
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}
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}
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return true;
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}
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bool CameraFeedLinux::_start_capturing() {
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for (unsigned int i = 0; i < buffer_count; i++) {
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struct v4l2_buffer buffer;
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memset(&buffer, 0, sizeof(buffer));
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buffer.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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buffer.memory = V4L2_MEMORY_MMAP;
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buffer.index = i;
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if (ioctl(file_descriptor, VIDIOC_QBUF, &buffer) == -1) {
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ERR_FAIL_V_MSG(false, vformat("ioctl(VIDIOC_QBUF) error: %d.", errno));
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}
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}
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enum v4l2_buf_type type;
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type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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if (ioctl(file_descriptor, VIDIOC_STREAMON, &type) == -1) {
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ERR_FAIL_V_MSG(false, vformat("ioctl(VIDIOC_STREAMON) error: %d.", errno));
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}
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return true;
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}
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void CameraFeedLinux::_read_frame() {
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struct v4l2_buffer buffer;
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memset(&buffer, 0, sizeof(buffer));
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buffer.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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buffer.memory = V4L2_MEMORY_MMAP;
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if (ioctl(file_descriptor, VIDIOC_DQBUF, &buffer) == -1) {
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if (errno != EAGAIN) {
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print_error(vformat("ioctl(VIDIOC_DQBUF) error: %d.", errno));
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exit_flag.set();
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}
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return;
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}
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buffer_decoder->decode(buffers[buffer.index]);
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if (ioctl(file_descriptor, VIDIOC_QBUF, &buffer) == -1) {
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print_error(vformat("ioctl(VIDIOC_QBUF) error: %d.", errno));
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}
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emit_signal(SNAME("frame_changed"));
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}
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void CameraFeedLinux::_stop_capturing() {
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enum v4l2_buf_type type;
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type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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if (ioctl(file_descriptor, VIDIOC_STREAMOFF, &type) == -1) {
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print_error(vformat("ioctl(VIDIOC_STREAMOFF) error: %d.", errno));
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}
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}
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void CameraFeedLinux::_unmap_buffers(unsigned int p_count) {
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for (unsigned int i = 0; i < p_count; i++) {
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munmap(buffers[i].start, buffers[i].length);
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}
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}
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void CameraFeedLinux::_start_thread() {
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exit_flag.clear();
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thread = memnew(Thread);
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thread->start(CameraFeedLinux::update_buffer_thread_func, this);
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}
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String CameraFeedLinux::get_device_name() const {
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return device_name;
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}
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bool CameraFeedLinux::activate_feed() {
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file_descriptor = open(device_name.ascii(), O_RDWR | O_NONBLOCK, 0);
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if (_request_buffers() && _start_capturing()) {
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buffer_decoder = _create_buffer_decoder();
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_start_thread();
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return true;
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}
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ERR_FAIL_V_MSG(false, "Could not activate feed.");
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}
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BufferDecoder *CameraFeedLinux::_create_buffer_decoder() {
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switch (formats[selected_format].pixel_format) {
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case V4L2_PIX_FMT_MJPEG:
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case V4L2_PIX_FMT_JPEG:
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return memnew(JpegBufferDecoder(this));
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case V4L2_PIX_FMT_YUYV:
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case V4L2_PIX_FMT_YYUV:
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case V4L2_PIX_FMT_YVYU:
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case V4L2_PIX_FMT_UYVY:
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case V4L2_PIX_FMT_VYUY: {
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String output = parameters["output"];
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if (output == "separate") {
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return memnew(SeparateYuyvBufferDecoder(this));
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}
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if (output == "grayscale") {
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return memnew(YuyvToGrayscaleBufferDecoder(this));
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}
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if (output == "copy") {
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return memnew(CopyBufferDecoder(this, false));
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}
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return memnew(YuyvToRgbBufferDecoder(this));
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}
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default:
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return memnew(CopyBufferDecoder(this, true));
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}
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}
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void CameraFeedLinux::deactivate_feed() {
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exit_flag.set();
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thread->wait_to_finish();
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memdelete(thread);
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_stop_capturing();
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_unmap_buffers(buffer_count);
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delete[] buffers;
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memdelete(buffer_decoder);
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for (int i = 0; i < CameraServer::FEED_IMAGES; i++) {
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RID placeholder = RenderingServer::get_singleton()->texture_2d_placeholder_create();
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RenderingServer::get_singleton()->texture_replace(texture[i], placeholder);
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}
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base_width = 0;
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base_height = 0;
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close(file_descriptor);
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emit_signal(SNAME("format_changed"));
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}
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Array CameraFeedLinux::get_formats() const {
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Array result;
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for (const FeedFormat &format : formats) {
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Dictionary dictionary;
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dictionary["width"] = format.width;
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dictionary["height"] = format.height;
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dictionary["format"] = format.format;
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dictionary["frame_numerator"] = format.frame_numerator;
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dictionary["frame_denominator"] = format.frame_denominator;
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result.push_back(dictionary);
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}
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return result;
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}
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CameraFeed::FeedFormat CameraFeedLinux::get_format() const {
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return formats[selected_format];
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}
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bool CameraFeedLinux::set_format(int p_index, const Dictionary &p_parameters) {
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ERR_FAIL_COND_V_MSG(active, false, "Feed is active.");
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ERR_FAIL_INDEX_V_MSG(p_index, formats.size(), false, "Invalid format index.");
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parameters = p_parameters.duplicate();
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selected_format = p_index;
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FeedFormat feed_format = formats[p_index];
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file_descriptor = open(device_name.ascii(), O_RDWR | O_NONBLOCK, 0);
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struct v4l2_format format;
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memset(&format, 0, sizeof(format));
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format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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format.fmt.pix.width = feed_format.width;
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format.fmt.pix.height = feed_format.height;
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format.fmt.pix.pixelformat = feed_format.pixel_format;
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if (ioctl(file_descriptor, VIDIOC_S_FMT, &format) == -1) {
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close(file_descriptor);
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ERR_FAIL_V_MSG(false, vformat("Cannot set format, error: %d.", errno));
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}
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if (feed_format.frame_numerator > 0) {
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struct v4l2_streamparm param;
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memset(¶m, 0, sizeof(param));
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param.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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param.parm.capture.capability = V4L2_CAP_TIMEPERFRAME;
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param.parm.capture.timeperframe.numerator = feed_format.frame_numerator;
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param.parm.capture.timeperframe.denominator = feed_format.frame_denominator;
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if (ioctl(file_descriptor, VIDIOC_S_PARM, ¶m) == -1) {
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close(file_descriptor);
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ERR_FAIL_V_MSG(false, vformat("Cannot set framerate, error: %d.", errno));
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}
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}
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close(file_descriptor);
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emit_signal(SNAME("format_changed"));
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return true;
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}
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CameraFeedLinux::CameraFeedLinux(const String &p_device_name) :
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CameraFeed() {
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device_name = p_device_name;
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_query_device(device_name);
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set_format(0, Dictionary());
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}
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CameraFeedLinux::~CameraFeedLinux() {
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if (is_active()) {
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deactivate_feed();
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}
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}
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