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