video2.c

motion motion

/*
 *	video2.c
 *
 *	V4L2 interface with basically JPEG decompression support and even more ...
 *	Copyright 2006 Krzysztof Blaszkowski ([e-mail])
 *		  2007 Angel Carpintero ([e-mail])
 
 * Supported features and TODO
 *  - preferred palette is JPEG which seems to be very popular for many 640x480 usb cams
 *  - other supported palettes (NOT TESTED)
 *  		V4L2_PIX_FMT_SBGGR8	( sonix )	
 *  		V4L2_PIX_FMT_SN9C10X	( sonix )
 *  		V4L2_PIX_FMT_MJPEG,	( tested )
 *  		V4L2_PIX_FMT_JPEG,	( tested )
		V4L2_PIX_FMT_RGB24,
		V4L2_PIX_FMT_UYVY,	( tested )
		V4L2_PIX_FMT_YUV422P,
		V4L2_PIX_FMT_YUV420, 	( tested )
		V4L2_PIX_FMT_YUYV 	( tested )
 
 *  - setting tuner - NOT TESTED 
 *  - access to V4L2 device controls is missing. Partially added but requires some improvements likely.
 *  - changing resolution at run-time may not work. 
 *  - ucvideo svn r75 or above to work with MJPEG ( i.ex Logitech 5000 pro )
 
 * This work is inspired by fswebcam and current design of motion.
 * This interface has been tested with ZC0301 driver from kernel 2.6.17.3 and Labtec's usb camera (PAS202 sensor)
 
 * I'm very pleased by achieved image quality and cpu usage comparing to junky v4l1 spca5xx driver with 
 * it nonsensical kernel messy jpeg decompressor.
 * Default sensor settings used by ZC0301 driver are very reasonable choosen.
 * apparently brigthness should be controlled automatically by motion still for light compensation.
 * it can be done by adjusting ADC gain and also exposure time.
 
 *
 * 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.

 let's go :)
*/

#ifndef WITHOUT_V4L
#ifdef MOTION_V4L2

#include <math.h>
#include <sys/utsname.h>
#include <dirent.h>
#include <stdio.h>
#include <stdlib.h>
#include <fcntl.h>
#include <unistd.h>
#include <malloc.h>
#include <string.h>
#include <errno.h>
#include <sys/ioctl.h>
#include <sys/mman.h>

#include "motion.h"
#include "netcam.h"
#include "video.h"

#ifdef MOTION_V4L2_OLD
// Seems that is needed for some system
#include <linux/time.h>
#include <linux/videodev2.h>
#endif

#define u8 unsigned char
#define u16 unsigned short
#define u32 unsigned int
#define s32 signed int

#define MMAP_BUFFERS 4
#define MIN_MMAP_BUFFERS 2

#ifndef V4L2_PIX_FMT_SBGGR8
/* see http://www.siliconimaging.com/RGB%20Bayer.htm */
#define V4L2_PIX_FMT_SBGGR8  v4l2_fourcc('B','A','8','1')	/*  8  BGBG.. GRGR.. */
#endif

#ifndef V4L2_PIX_FMT_MJPEG
#define V4L2_PIX_FMT_MJPEG    v4l2_fourcc('M','J','P','G')	/* Motion-JPEG   */
#endif

#ifndef V4L2_PIX_FMT_SN9C10X
#define V4L2_PIX_FMT_SN9C10X v4l2_fourcc('S','9','1','0')	/* SN9C10x compression */
#endif

#define ZC301_V4L2_CID_DAC_MAGN 	V4L2_CID_PRIVATE_BASE
#define ZC301_V4L2_CID_GREEN_BALANCE 	(V4L2_CID_PRIVATE_BASE+1)

static const u32 queried_ctrls[] = {
	V4L2_CID_BRIGHTNESS,
	V4L2_CID_CONTRAST,
	V4L2_CID_SATURATION,
	V4L2_CID_HUE,

	V4L2_CID_RED_BALANCE,
	V4L2_CID_BLUE_BALANCE,
	V4L2_CID_GAMMA,
	V4L2_CID_EXPOSURE,
	V4L2_CID_AUTOGAIN,
	V4L2_CID_GAIN,

	ZC301_V4L2_CID_DAC_MAGN,
	ZC301_V4L2_CID_GREEN_BALANCE,
	0
};

typedef struct {

	int fd;
	char map;
	u32 fps;

	struct v4l2_capability cap;
	struct v4l2_format fmt;
	struct v4l2_requestbuffers req;
	struct v4l2_buffer buf;

	netcam_buff *buffers;

	s32 pframe;

	u32 ctrl_flags;
	struct v4l2_queryctrl *controls;

} src_v4l2_t;

static int xioctl(int fd, int request, void *arg)
{
	int r;

	do
		r = ioctl(fd, request, arg);
	while (-1 == r && EINTR == errno);

	return r;
}

static int v4l2_get_capability(src_v4l2_t * s)
{

	if (xioctl(s->fd, VIDIOC_QUERYCAP, &s->cap) < 0) {
		motion_log(LOG_ERR, 0, "Not a V4L2 device?");
		return (-1);
	}

	motion_log(LOG_INFO, 0, "cap.driver: \"%s\"", s->cap.driver);
	motion_log(LOG_INFO, 0, "cap.card: \"%s\"", s->cap.card);
	motion_log(LOG_INFO, 0, "cap.bus_info: \"%s\"", s->cap.bus_info);
	motion_log(LOG_INFO, 0, "cap.capabilities=0x%08X", s->cap.capabilities);

	if (s->cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)
		motion_log(LOG_INFO, 0, "- VIDEO_CAPTURE");
	if (s->cap.capabilities & V4L2_CAP_VIDEO_OUTPUT)
		motion_log(LOG_INFO, 0, "- VIDEO_OUTPUT");
	if (s->cap.capabilities & V4L2_CAP_VIDEO_OVERLAY)
		motion_log(LOG_INFO, 0, "- VIDEO_OVERLAY");
	if (s->cap.capabilities & V4L2_CAP_VBI_CAPTURE)
		motion_log(LOG_INFO, 0, "- VBI_CAPTURE");
	if (s->cap.capabilities & V4L2_CAP_VBI_OUTPUT)
		motion_log(LOG_INFO, 0, "- VBI_OUTPUT");
	if (s->cap.capabilities & V4L2_CAP_RDS_CAPTURE)
		motion_log(LOG_INFO, 0, "- RDS_CAPTURE");
	if (s->cap.capabilities & V4L2_CAP_TUNER)
		motion_log(LOG_INFO, 0, "- TUNER");
	if (s->cap.capabilities & V4L2_CAP_AUDIO)
		motion_log(LOG_INFO, 0, "- AUDIO");
	if (s->cap.capabilities & V4L2_CAP_READWRITE)
		motion_log(LOG_INFO, 0, "- READWRITE");
	if (s->cap.capabilities & V4L2_CAP_ASYNCIO)
		motion_log(LOG_INFO, 0, "- ASYNCIO");
	if (s->cap.capabilities & V4L2_CAP_STREAMING)
		motion_log(LOG_INFO, 0, "- STREAMING");
	if (s->cap.capabilities & V4L2_CAP_TIMEPERFRAME)
		motion_log(LOG_INFO, 0, "- TIMEPERFRAME");

	if (!s->cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) {
		motion_log(LOG_ERR, 0, "Device does not support capturing.");
		return (-1);
	}

	return (0);
}

static int v4l2_select_input(src_v4l2_t * s, int in, int norm, unsigned long freq_, int tuner_number ATTRIBUTE_UNUSED)
{
	struct v4l2_input input;
	struct v4l2_standard standard;
	v4l2_std_id std_id;

	if (in == 8)
		in = 0;

	/* Set the input. */
	memset (&input, 0, sizeof (input));
	input.index = in;
	if (xioctl(s->fd, VIDIOC_ENUMINPUT, &input) == -1) {
		motion_log(LOG_ERR, 0, "Unable to query input %d.", in);
		motion_log(LOG_ERR, 0, "VIDIOC_ENUMINPUT: %s", strerror(errno));
		return (-1);
	}

	if (debug_level > 5)
		motion_log(LOG_INFO, 0, "%s: name = \"%s\", type 0x%08X, status %08x", __FUNCTION__, input.name, 
			input.type, input.status);

	if ((input.type & V4L2_INPUT_TYPE_TUNER) && (debug_level > 5))
		motion_log(LOG_INFO, 0, "- TUNER");

	if ((input.type & V4L2_INPUT_TYPE_CAMERA) && (debug_level > 5)) 
		motion_log(LOG_INFO, 0, "- CAMERA");

	if (xioctl(s->fd, VIDIOC_S_INPUT, &in) == -1) {
		motion_log(LOG_ERR, 0, "Error selecting input %d", in);
		motion_log(LOG_ERR, 0, "VIDIOC_S_INPUT: %s", strerror(errno));
		return (-1);
	}

	/* Set video standard usually webcams doesn't support the ioctl or return V4L2_STD_UNKNOWN */
	if (xioctl(s->fd, VIDIOC_G_STD, &std_id) == -1) {
		if (debug_level > 5)
			motion_log(LOG_INFO, 0, "Device doesn't support VIDIOC_G_STD ");
		std_id = 0;	// V4L2_STD_UNKNOWN = 0
	}

	if (std_id) {
		memset(&standard, 0, sizeof(standard));
		standard.index = 0;

		while (xioctl(s->fd, VIDIOC_ENUMSTD, &standard) == 0) {
			if ((standard.id & std_id)  && (debug_level > 5)) {
				motion_log(LOG_INFO, 0, "- video standard %s", standard.name);
			}
			standard.index++;
		}

		switch (norm) {
		case 1:
			std_id = V4L2_STD_NTSC;
			break;
		case 2:
			std_id = V4L2_STD_SECAM;
			break;
		default:
			std_id = V4L2_STD_PAL;
		}

		if (xioctl(s->fd, VIDIOC_S_STD, &std_id) == -1) {
			motion_log(LOG_ERR, 0, "Error selecting standard method %d", std_id);
			motion_log(LOG_ERR, 0, "VIDIOC_S_STD: %s", strerror(errno));
		}
	}

	/* If this input is attached to a tuner, set the frequency. */
	if (input.type & V4L2_INPUT_TYPE_TUNER) {
		struct v4l2_tuner tuner;
		struct v4l2_frequency freq;

		/* Query the tuners capabilities. */

		memset(&tuner, 0, sizeof(struct v4l2_tuner));
		tuner.index = input.tuner;

		if (xioctl(s->fd, VIDIOC_G_TUNER, &tuner) == -1) {
			motion_log(LOG_ERR, 0, "VIDIOC_G_TUNER: %s", strerror(errno));	
			return (0);
		}

		/* Set the frequency. */
		memset(&freq, 0, sizeof(struct v4l2_frequency));
		freq.tuner = input.tuner;
		freq.type = V4L2_TUNER_ANALOG_TV;
		freq.frequency = (freq_ / 1000) * 16;

		if (xioctl(s->fd, VIDIOC_S_FREQUENCY, &freq) == -1) {
			motion_log(LOG_ERR, 0, "VIDIOC_S_FREQUENCY: %s", strerror(errno));
			return (0);
		}
	}

	return (0);
}

static int v4l2_set_pix_format(struct context *cnt, src_v4l2_t * s, int *width, int *height)
{
	struct v4l2_fmtdesc fmt;
	short int v4l2_pal;

	static const u32 supported_formats[] = {	/* higher index means better chance to be used */
		V4L2_PIX_FMT_SN9C10X,
		V4L2_PIX_FMT_SBGGR8,
		V4L2_PIX_FMT_MJPEG,
		V4L2_PIX_FMT_JPEG,
		V4L2_PIX_FMT_RGB24,
		V4L2_PIX_FMT_UYVY,
		V4L2_PIX_FMT_YUYV,
		V4L2_PIX_FMT_YUV422P,
		V4L2_PIX_FMT_YUV420,
		0
	};

	short int index_format = -1;

	memset(&fmt, 0, sizeof(struct v4l2_fmtdesc));
	fmt.index = v4l2_pal = 0;
	fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

	motion_log(LOG_INFO, 0, "Supported palettes:");
	while (xioctl(s->fd, VIDIOC_ENUM_FMT, &fmt) != -1) {
		short int i;

		motion_log(LOG_INFO, 0, "%i: %c%c%c%c (%s)", v4l2_pal,
			   fmt.pixelformat >> 0, fmt.pixelformat >> 8,
			   fmt.pixelformat >> 16, fmt.pixelformat >> 24, fmt.description);

		for (i = 0; supported_formats[i]; i++)
			if (supported_formats[i] == fmt.pixelformat && i > index_format) {
				if (cnt->conf.v4l2_palette == i) {
					index_format = cnt->conf.v4l2_palette;
					motion_log(LOG_INFO, 0, "Selected palette %c%c%c%c", fmt.pixelformat >> 0, 
								fmt.pixelformat >> 8, fmt.pixelformat >> 16, fmt.pixelformat >> 24);
					i=10;
					break;
				}
				index_format = i;
			}

		/* Chosen our selected palette, break from while */
		if (index_format == cnt->conf.v4l2_palette && index_format >= 0)
			break;

		memset(&fmt, 0, sizeof(struct v4l2_fmtdesc));
		fmt.index = ++v4l2_pal;
		fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	}

	if (index_format >= 0) {
		
		u32 pixformat = supported_formats[index_format];

		memset(&s->fmt, 0, sizeof(struct v4l2_format));
		s->fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
		s->fmt.fmt.pix.width = *width;
		s->fmt.fmt.pix.height = *height;
		s->fmt.fmt.pix.pixelformat = pixformat;
		s->fmt.fmt.pix.field = V4L2_FIELD_ANY;

		if (xioctl(s->fd, VIDIOC_TRY_FMT, &s->fmt) != -1 && s->fmt.fmt.pix.pixelformat == pixformat) {
			motion_log(LOG_INFO, 0, "index_format %d Test palette %c%c%c%c (%dx%d)", index_format, pixformat >> 0, pixformat >> 8, pixformat >> 16, pixformat >> 24, *width, *height);

			if (s->fmt.fmt.pix.width != (unsigned int) *width
			    || s->fmt.fmt.pix.height != (unsigned int) *height) {
				motion_log(LOG_INFO, 0, "Adjusting resolution from %ix%i to %ix%i.", *width, *height,
					   s->fmt.fmt.pix.width, s->fmt.fmt.pix.height);
				*width = s->fmt.fmt.pix.width;
				*height = s->fmt.fmt.pix.height;
			}

			if (xioctl(s->fd, VIDIOC_S_FMT, &s->fmt) == -1) {
				motion_log(LOG_ERR, 0, "Error setting pixel format.");
				motion_log(LOG_ERR, 0, "VIDIOC_S_FMT: %s", strerror(errno));
				return (-1);
			}

			motion_log(LOG_INFO, 0, "Using palette %c%c%c%c (%dx%d) bytesperlines %d sizeimage %d colorspace %08x", pixformat >> 0, pixformat >> 8, pixformat >> 16, pixformat >> 24, *width, *height, s->fmt.fmt.pix.bytesperline, s->fmt.fmt.pix.sizeimage, s->fmt.fmt.   pix.colorspace);

			/* TODO: Review when it has been tested */
			if (pixformat == V4L2_PIX_FMT_MJPEG) {
				struct v4l2_jpegcompression v4l2_jpeg;

				if (xioctl(s->fd, VIDIOC_G_JPEGCOMP, &v4l2_jpeg) == -1) {
					motion_log(LOG_ERR, 0, "VIDIOC_G_JPEGCOMP not supported but it should");
				} else {
					v4l2_jpeg.jpeg_markers |= V4L2_JPEG_MARKER_DHT;
					if (xioctl(s->fd, VIDIOC_S_JPEGCOMP, &v4l2_jpeg) == -1)
						motion_log(LOG_ERR, 0, "VIDIOC_S_JPEGCOMP %s", strerror(errno));

				}
			}
			return 0;
		}

		motion_log(LOG_ERR, 0, "VIDIOC_TRY_FMT failed for format %c%c%c%c (%s).", pixformat >> 0,
			   pixformat >> 8, pixformat >> 16, pixformat >> 24, strerror(errno));

		return -1;
	}

	motion_log(LOG_ERR, 0, "Unable to find a compatible palette format.");
	return (-1);
}

#if 0
static void v4l2_set_fps(src_v4l2_t * s){
	struct v4l2_streamparm* setfps;

	setfps=(struct v4l2_streamparm *) calloc(1, sizeof(struct v4l2_streamparm));
	memset(setfps, 0, sizeof(struct v4l2_streamparm));
	setfps->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	setfps->parm.capture.timeperframe.numerator=1;
	setfps->parm.capture.timeperframe.denominator=s->fps;
	if (xioctl(s->fd, VIDIOC_S_PARM, setfps) == -1){
		motion_log(LOG_ERR, 0, "v4l2_set_fps VIDIOC_S_PARM %s",strerror(errno));
	}

}
#endif

static int v4l2_set_mmap(src_v4l2_t * s)
{
	enum v4l2_buf_type type;
	u32 b;

	/* Does the device support streaming? */
	if (!s->cap.capabilities & V4L2_CAP_STREAMING)
		return (-1);

	memset(&s->req, 0, sizeof(struct v4l2_requestbuffers));

	s->req.count = MMAP_BUFFERS;
	s->req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	s->req.memory = V4L2_MEMORY_MMAP;

	if (xioctl(s->fd, VIDIOC_REQBUFS, &s->req) == -1) {
		motion_log(LOG_ERR, 1, "Error requesting buffers for memory map.");
		motion_log(LOG_ERR, 0, "VIDIOC_REQBUFS: %s", strerror(errno));
		return (-1);
	}

	motion_log(LOG_DEBUG, 0, "mmap information:");
	motion_log(LOG_DEBUG, 0, "frames=%d", s->req.count);

	if (s->req.count < MIN_MMAP_BUFFERS) {
		motion_log(LOG_ERR, 0, "Insufficient buffer memory.");
		return (-1);
	}

	s->buffers = calloc(s->req.count, sizeof(netcam_buff));
	if (!s->buffers) {
		motion_log(LOG_ERR, 1, "%s: Out of memory.", __FUNCTION__);
		return (-1);
	}