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util.c
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util.c
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#include "util.h"
static int xioctl(int fh, int request, void *arg)
{
int r;
do {
r = ioctl(fh, request, arg);
} while (-1 == r && EINTR == errno);
return r;
}
static pinect_dev *pinect_new(unsigned char *f){
size_t l;
int fd,i;
struct v4l2_capability cap;
struct v4l2_cropcap cropcap;
struct v4l2_crop crop;
struct v4l2_format fmt;
enum v4l2_buf_type type;
struct v4l2_requestbuffers req;
void *buffers[3];
pinect_dev *dev;
fd = open(f, O_RDWR | O_NONBLOCK, 0);
if (-1 == fd) {
PUSHERROR("notfound");
}
if (-1 == xioctl(fd, VIDIOC_QUERYCAP, &cap)) {
close(fd);
if (EINVAL == errno) {
PUSHERROR("dev");
} else {
PUSHERROR("caps");
}
}
if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) {
close(fd);
PUSHERROR("capture");
}
if (!(cap.capabilities & V4L2_CAP_STREAMING)) {
close(fd);
PUSHERROR("stream");
}
memset((void *)&fmt,0,sizeof(fmt));
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = 320;
fmt.fmt.pix.height = 240;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_Y16;
fmt.fmt.pix.field = V4L2_FIELD_NONE;
if (-1 == xioctl(fd, VIDIOC_S_FMT, &fmt)){
PUSHERROR("format");
}
memset((void *)&req,0,sizeof(req));
req.count = 3;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_USERPTR;
if (-1 == xioctl(fd, VIDIOC_REQBUFS, &req)) {
if (EINVAL == errno) {
PUSHERROR("userp");
} else {
PUSHERROR("req");
}
}
dev = (pinect_dev *)malloc(sizeof(pinect_dev));
memset(dev,0,sizeof(pinect_dev));
dev->fd = fd;
for (i=0; i < 3; i++) {
dev->buffers[i] = malloc(FRAMESIZE);
struct v4l2_buffer buf;
memset((void *)&buf,0,sizeof(buf));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_USERPTR;
buf.index = i;
buf.m.userptr = (unsigned long)dev->buffers[i];
buf.length = FRAMESIZE;
if (-1 == xioctl(fd, VIDIOC_QBUF, &buf)){
PUSHERROR("dev");
}
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(fd, VIDIOC_STREAMON, &type)){
PUSHERROR("stream");
}
dev->current=NULL;
return dev;
}
static int pinect_free(pinect_dev *dev){
int i;
enum v4l2_buf_type type;
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
xioctl(dev->fd, VIDIOC_STREAMOFF, &type);
for(i=0;i!=3;i++){
free(dev->buffers[i]);
}
close(dev->fd);
return 0;
}
static int pinect_capture(pinect_dev *dev, int r){
struct v4l2_buffer buf;
fd_set fds;
struct timeval tv;
int r,rr;
void *ptr;
FD_ZERO(&fds);
FD_SET(dev->fd, &fds);
if(r >= 0){
tv.tv_sec = r;
tv.tv_usec = 0;
}
rr = select(dev->fd + 1, &fds, NULL, NULL, r > 0 ? &tv:NULL);
if (-1 == rr && EINTR == errno) {
PUSHERROR("interrupted");
}
if (0 == rr && r > 0) {
PUSHERROR("timeout");
}
memset((void *)&buf,0,sizeof(buf));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_USERPTR;
if (-1 == xioctl(dev->fd, VIDIOC_DQBUF, &buf)) {
switch (errno) {
case EAGAIN:
PUSHERROR("none");
case EIO:
default:
PUSHERROR("dev");
}
}
dev->index = buf.index;
dev->current = (unsigned short *) buf.m.userptr;
return 0;
}
int pinect_release(pinect_dev *dev){
struct v4l2_buffer buf;
if(!dev->current) return 0;
memset((void *)&buf,0,sizeof(buf));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_USERPTR;
buf.m.userptr = (unsigned long)dev->current;
buf.length = FRAMESIZE;
buf.index = dev->index;
if (-1 == xioctl(dev->fd, VIDIOC_QBUF, &buf)){
PUSHERROR("dev");
}
dev->current = NULL;
return 0;
}