/* Copyright (c) 2012, Broadcom Europe Ltd All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ ///////////////////////////////////////////////////////////// // // This file has been modified by Pierre Raufast - mai 2013 // to work with OpenCV 2.3 // visit thinkrpi.wordpress.com // Enjoy ! // ///////////////////////////////////////////////////////////// // We use some GNU extensions (asprintf) #define _GNU_SOURCE #include #include #include #include #include "bcm_host.h" #include "interface/vcos/vcos.h" #include "interface/mmal/mmal.h" #include "interface/mmal/mmal_logging.h" #include "interface/mmal/mmal_buffer.h" #include "interface/mmal/util/mmal_util.h" #include "interface/mmal/util/mmal_util_params.h" #include "interface/mmal/util/mmal_default_components.h" #include "interface/mmal/util/mmal_connection.h" #include "RaspiCamControl.h" #include "RaspiPreview.h" #include "RaspiCLI.h" // *** PR : ADDED for OPENCV #include #include #include /// Camera number to use - we only have one camera, indexed from 0. #define CAMERA_NUMBER 0 // Standard port setting for the camera component #define MMAL_CAMERA_PREVIEW_PORT 0 #define MMAL_CAMERA_VIDEO_PORT 1 #define MMAL_CAMERA_CAPTURE_PORT 2 // Stills format information #define STILLS_FRAME_RATE_NUM 3 #define STILLS_FRAME_RATE_DEN 1 /// Video render needs at least 2 buffers. #define VIDEO_OUTPUT_BUFFERS_NUM 3 #define MAX_USER_EXIF_TAGS 32 #define MAX_EXIF_PAYLOAD_LENGTH 128 int mmal_status_to_int(MMAL_STATUS_T status); /** Structure containing all state information for the current run */ typedef struct { int timeout; /// Time taken before frame is grabbed and app then shuts down. Units are milliseconds int width; /// Requested width of image int height; /// requested height of image int quality; /// JPEG quality setting (1-100) int wantRAW; /// Flag for whether the JPEG metadata also contains the RAW bayer image char *filename; /// filename of output file MMAL_PARAM_THUMBNAIL_CONFIG_T thumbnailConfig; int verbose; /// !0 if want detailed run information int demoMode; /// Run app in demo mode int demoInterval; /// Interval between camera settings changes MMAL_FOURCC_T encoding; /// Encoding to use for the output file. const char *exifTags[MAX_USER_EXIF_TAGS]; /// Array of pointers to tags supplied from the command line int numExifTags; /// Number of supplied tags int timelapse; /// Delay between each picture in timelapse mode. If 0, disable timelapse RASPIPREVIEW_PARAMETERS preview_parameters; /// Preview setup parameters RASPICAM_CAMERA_PARAMETERS camera_parameters; /// Camera setup parameters MMAL_COMPONENT_T *camera_component; /// Pointer to the camera component MMAL_COMPONENT_T *encoder_component; /// Pointer to the encoder component MMAL_CONNECTION_T *preview_connection; /// Pointer to the connection from camera to preview MMAL_CONNECTION_T *encoder_connection; /// Pointer to the connection from camera to encoder MMAL_POOL_T *encoder_pool; /// Pointer to the pool of buffers used by encoder output port } RASPISTILL_STATE; /** Struct used to pass information in encoder port userdata to callback */ typedef struct { FILE *file_handle; /// File handle to write buffer data to. VCOS_SEMAPHORE_T complete_semaphore; /// semaphore which is posted when we reach end of frame (indicates end of capture or fault) RASPISTILL_STATE *pstate; /// pointer to our state in case required in callback } PORT_USERDATA; static void display_valid_parameters(); static void store_exif_tag(RASPISTILL_STATE *state, const char *exif_tag); static struct { char *format; MMAL_FOURCC_T encoding; } encoding_xref[] = { {"jpg", MMAL_ENCODING_JPEG}, {"bmp", MMAL_ENCODING_BMP}, {"gif", MMAL_ENCODING_GIF}, {"png", MMAL_ENCODING_PNG} }; static int encoding_xref_size = sizeof(encoding_xref) / sizeof(encoding_xref[0]); /** * Assign a default set of parameters to the state passed in * * @param state Pointer to state structure to assign defaults to */ static void default_status(RASPISTILL_STATE *state) { if (!state) { vcos_assert(0); return; } // *** PR : modif for demo purpose : smaller image state->timeout = 1000; // 5s delay before take image state->width = 320;//2592; state->height = 200; //1944; state->quality = 85; state->wantRAW = 0; state->filename = NULL; state->verbose = 0; state->thumbnailConfig.enable = 1; state->thumbnailConfig.width = 64; state->thumbnailConfig.height = 48; state->thumbnailConfig.quality = 35; state->demoMode = 0; state->demoInterval = 250; // ms state->camera_component = NULL; state->encoder_component = NULL; state->preview_connection = NULL; state->encoder_connection = NULL; state->encoder_pool = NULL; state->encoding = MMAL_ENCODING_JPEG; state->numExifTags = 0; state->timelapse = 0; // Setup preview window defaults raspipreview_set_defaults(&state->preview_parameters); // Set up the camera_parameters to default raspicamcontrol_set_defaults(&state->camera_parameters); } /** * buffer header callback function for camera control * * No actions taken in current version * * @param port Pointer to port from which callback originated * @param buffer mmal buffer header pointer */ static void camera_control_callback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer) { if (buffer->cmd == MMAL_EVENT_PARAMETER_CHANGED) { } else { vcos_log_error("Received unexpected camera control callback event, 0x%08x", buffer->cmd); } mmal_buffer_header_release(buffer); } /** * buffer header callback function for encoder * * Callback will dump buffer data to the specific file * * @param port Pointer to port from which callback originated * @param buffer mmal buffer header pointer */ static void encoder_buffer_callback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer) { int complete = 0; // We pass our file handle and other stuff in via the userdata field. PORT_USERDATA *pData = (PORT_USERDATA *)port->userdata; if (pData) { if (buffer->length) { mmal_buffer_header_mem_lock(buffer); // // *** PR : OPEN CV Stuff here ! // // create a CvMat empty structure, with size of the buffer. CvMat* buf = cvCreateMat(1,buffer->length,CV_8UC1); // copy buffer from cam to CvMat buf->data.ptr = buffer->data; // decode image (interpret jpg) IplImage *img = cvDecodeImage(buf, CV_LOAD_IMAGE_COLOR); // we can save it ! cvSaveImage("foobar.bmp", img,0); // or display it cvNamedWindow("camcvWin", CV_WINDOW_AUTOSIZE); cvShowImage("camcvWin", img ); cvWaitKey(0); //cvReleaseImage(&img ); mmal_buffer_header_mem_unlock(buffer); } // Now flag if we have completed if (buffer->flags & (MMAL_BUFFER_HEADER_FLAG_FRAME_END | MMAL_BUFFER_HEADER_FLAG_TRANSMISSION_FAILED)) complete = 1; } else { vcos_log_error("Received a encoder buffer callback with no state"); } // release buffer back to the pool mmal_buffer_header_release(buffer); // and send one back to the port (if still open) if (port->is_enabled) { MMAL_STATUS_T status; MMAL_BUFFER_HEADER_T *new_buffer; new_buffer = mmal_queue_get(pData->pstate->encoder_pool->queue); if (new_buffer) { status = mmal_port_send_buffer(port, new_buffer); } if (!new_buffer || status != MMAL_SUCCESS) vcos_log_error("Unable to return a buffer to the encoder port"); } if (complete) vcos_semaphore_post(&(pData->complete_semaphore)); } /** * Create the camera component, set up its ports * * @param state Pointer to state control struct * * @return 0 if failed, pointer to component if successful * */ static MMAL_COMPONENT_T *create_camera_component(RASPISTILL_STATE *state) { MMAL_COMPONENT_T *camera = 0; MMAL_ES_FORMAT_T *format; MMAL_PORT_T *preview_port = NULL, *video_port = NULL, *still_port = NULL; MMAL_STATUS_T status; /* Create the component */ status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera); if (status != MMAL_SUCCESS) { vcos_log_error("Failed to create camera component"); goto error; } if (!camera->output_num) { vcos_log_error("Camera doesn't have output ports"); goto error; } preview_port = camera->output[MMAL_CAMERA_PREVIEW_PORT]; video_port = camera->output[MMAL_CAMERA_VIDEO_PORT]; still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT]; // Enable the camera, and tell it its control callback function status = mmal_port_enable(camera->control, camera_control_callback); if (status) { vcos_log_error("Unable to enable control port : error %d", status); goto error; } // set up the camera configuration { MMAL_PARAMETER_CAMERA_CONFIG_T cam_config = { { MMAL_PARAMETER_CAMERA_CONFIG, sizeof(cam_config) }, .max_stills_w = state->width, .max_stills_h = state->height, .stills_yuv422 = 0, .one_shot_stills = 1, .max_preview_video_w = state->preview_parameters.previewWindow.width, .max_preview_video_h = state->preview_parameters.previewWindow.height, .num_preview_video_frames = 3, .stills_capture_circular_buffer_height = 0, .fast_preview_resume = 0, .use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC }; mmal_port_parameter_set(camera->control, &cam_config.hdr); } raspicamcontrol_set_all_parameters(camera, &state->camera_parameters); // Now set up the port formats format = preview_port->format; format->encoding = MMAL_ENCODING_OPAQUE; format->encoding_variant = MMAL_ENCODING_I420; format->es->video.width = state->preview_parameters.previewWindow.width; format->es->video.height = state->preview_parameters.previewWindow.height; format->es->video.crop.x = 0; format->es->video.crop.y = 0; format->es->video.crop.width = state->preview_parameters.previewWindow.width; format->es->video.crop.height =state->preview_parameters.previewWindow.height; format->es->video.frame_rate.num = PREVIEW_FRAME_RATE_NUM; format->es->video.frame_rate.den = PREVIEW_FRAME_RATE_DEN; status = mmal_port_format_commit(preview_port); if (status) { vcos_log_error("camera viewfinder format couldn't be set"); goto error; } // Set the same format on the video port (which we dont use here) mmal_format_full_copy(video_port->format, format); status = mmal_port_format_commit(video_port); if (status) { vcos_log_error("camera video format couldn't be set"); goto error; } // Ensure there are enough buffers to avoid dropping frames if (video_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM) video_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM; format = still_port->format; // Set our stills format on the stills (for encoder) port format->encoding = MMAL_ENCODING_OPAQUE; format->es->video.width = state->width; format->es->video.height = state->height; format->es->video.crop.x = 0; format->es->video.crop.y = 0; format->es->video.crop.width = state->width; format->es->video.crop.height = state->height; format->es->video.frame_rate.num = STILLS_FRAME_RATE_NUM; format->es->video.frame_rate.den = STILLS_FRAME_RATE_DEN; status = mmal_port_format_commit(still_port); if (status) { vcos_log_error("camera still format couldn't be set"); goto error; } /* Ensure there are enough buffers to avoid dropping frames */ if (still_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM) still_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM; /* Enable component */ status = mmal_component_enable(camera); if (status) { vcos_log_error("camera component couldn't be enabled"); goto error; } if (state->wantRAW) { if (mmal_port_parameter_set_boolean(still_port, MMAL_PARAMETER_ENABLE_RAW_CAPTURE, 1) != MMAL_SUCCESS) { vcos_log_error("RAW was requested, but failed to enable"); // Continue on and take picture without. } } state->camera_component = camera; if (state->verbose) fprintf(stderr, "Camera component done\n"); return camera; error: if (camera) mmal_component_destroy(camera); return 0; } /** * Destroy the camera component * * @param state Pointer to state control struct * */ static void destroy_camera_component(RASPISTILL_STATE *state) { if (state->camera_component) { mmal_component_destroy(state->camera_component); state->camera_component = NULL; } } /** * Create the encoder component, set up its ports * * @param state Pointer to state control struct * * @return 0 if failed, pointer to component if successful * */ static MMAL_COMPONENT_T *create_encoder_component(RASPISTILL_STATE *state) { MMAL_COMPONENT_T *encoder = 0; MMAL_PORT_T *encoder_input = NULL, *encoder_output = NULL; MMAL_STATUS_T status; MMAL_POOL_T *pool; status = mmal_component_create(MMAL_COMPONENT_DEFAULT_IMAGE_ENCODER, &encoder); if (status != MMAL_SUCCESS) { vcos_log_error("Unable to create JPEG encoder component"); goto error; } if (!encoder->input_num || !encoder->output_num) { vcos_log_error("JPEG encoder doesn't have input/output ports"); goto error; } encoder_input = encoder->input[0]; encoder_output = encoder->output[0]; // We want same format on input and output mmal_format_copy(encoder_output->format, encoder_input->format); // Specify out output format encoder_output->format->encoding = state->encoding; encoder_output->buffer_size = encoder_output->buffer_size_recommended; if (encoder_output->buffer_size < encoder_output->buffer_size_min) encoder_output->buffer_size = encoder_output->buffer_size_min; encoder_output->buffer_num = encoder_output->buffer_num_recommended; if (encoder_output->buffer_num < encoder_output->buffer_num_min) encoder_output->buffer_num = encoder_output->buffer_num_min; // Commit the port changes to the output port status = mmal_port_format_commit(encoder_output); if (status != MMAL_SUCCESS) { vcos_log_error("Unable to set format on video encoder output port"); goto error; } // Set the JPEG quality level status = mmal_port_parameter_set_uint32(encoder_output, MMAL_PARAMETER_JPEG_Q_FACTOR, state->quality); if (status != MMAL_SUCCESS) { vcos_log_error("Unable to set JPEG quality"); goto error; } // Enable component status = mmal_component_enable(encoder); if (status) { vcos_log_error("Unable to enable video encoder component"); goto error; } /* Create pool of buffer headers for the output port to consume */ pool = mmal_port_pool_create(encoder_output, encoder_output->buffer_num, encoder_output->buffer_size); if (!pool) { vcos_log_error("Failed to create buffer header pool for encoder output port %s", encoder_output->name); } state->encoder_pool = pool; state->encoder_component = encoder; if (state->verbose) fprintf(stderr, "Encoder component done\n"); return encoder; error: if (encoder) mmal_component_destroy(encoder); return 0; } /** * Destroy the encoder component * * @param state Pointer to state control struct * */ static void destroy_encoder_component(RASPISTILL_STATE *state) { // Get rid of any port buffers first if (state->encoder_pool) { mmal_port_pool_destroy(state->encoder_component->output[0], state->encoder_pool); } if (state->encoder_component) { mmal_component_destroy(state->encoder_component); state->encoder_component = NULL; } } /** * Add an exif tag to the capture * * @param state Pointer to state control struct * @param exif_tag String containing a "key=value" pair. * @return Returns a MMAL_STATUS_T giving result of operation */ static MMAL_STATUS_T add_exif_tag(RASPISTILL_STATE *state, const char *exif_tag) { MMAL_STATUS_T status; MMAL_PARAMETER_EXIF_T *exif_param = (MMAL_PARAMETER_EXIF_T*)calloc(sizeof(MMAL_PARAMETER_EXIF_T) + MAX_EXIF_PAYLOAD_LENGTH, 1); vcos_assert(state); vcos_assert(state->encoder_component); // Check to see if the tag is present or is indeed a key=value pair. if (!exif_tag || strchr(exif_tag, '=') == NULL || strlen(exif_tag) > MAX_EXIF_PAYLOAD_LENGTH-1) return MMAL_EINVAL; exif_param->hdr.id = MMAL_PARAMETER_EXIF; strncpy((char*)exif_param->data, exif_tag, MAX_EXIF_PAYLOAD_LENGTH-1); exif_param->hdr.size = sizeof(MMAL_PARAMETER_EXIF_T) + strlen((char*)exif_param->data); status = mmal_port_parameter_set(state->encoder_component->output[0], &exif_param->hdr); free(exif_param); return status; } /** * Connect two specific ports together * * @param output_port Pointer the output port * @param input_port Pointer the input port * @param Pointer to a mmal connection pointer, reassigned if function successful * @return Returns a MMAL_STATUS_T giving result of operation * */ static MMAL_STATUS_T connect_ports(MMAL_PORT_T *output_port, MMAL_PORT_T *input_port, MMAL_CONNECTION_T **connection) { MMAL_STATUS_T status; status = mmal_connection_create(connection, output_port, input_port, MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT); if (status == MMAL_SUCCESS) { status = mmal_connection_enable(*connection); if (status != MMAL_SUCCESS) mmal_connection_destroy(*connection); } return status; } /** * Checks if specified port is valid and enabled, then disables it * * @param port Pointer the port * */ static void check_disable_port(MMAL_PORT_T *port) { if (port && port->is_enabled) mmal_port_disable(port); } /** * Handler for sigint signals * * @param signal_number ID of incoming signal. * */ static void signal_handler(int signal_number) { // Going to abort on all signals vcos_log_error("Aborting program\n"); // Need to close any open stuff... exit(255); } /** * main */ int main(int argc, const char **argv) { // Our main data storage vessel.. RASPISTILL_STATE state; MMAL_STATUS_T status = -1; MMAL_PORT_T *camera_preview_port = NULL; MMAL_PORT_T *camera_video_port = NULL; MMAL_PORT_T *camera_still_port = NULL; MMAL_PORT_T *preview_input_port = NULL; MMAL_PORT_T *encoder_input_port = NULL; MMAL_PORT_T *encoder_output_port = NULL; bcm_host_init(); signal(SIGINT, signal_handler); default_status(&state); if (!create_camera_component(&state)) { vcos_log_error("%s: Failed to create camera component", __func__); } else if (!raspipreview_create(&state.preview_parameters)) { vcos_log_error("%s: Failed to create preview component", __func__); destroy_camera_component(&state); } else if (!create_encoder_component(&state)) { vcos_log_error("%s: Failed to create encode component", __func__); raspipreview_destroy(&state.preview_parameters); destroy_camera_component(&state); } else { PORT_USERDATA callback_data; // *** PR : we don't want preview camera_preview_port = NULL;//state.camera_component->output[MMAL_CAMERA_PREVIEW_PORT]; camera_video_port = state.camera_component->output[MMAL_CAMERA_VIDEO_PORT]; camera_still_port = state.camera_component->output[MMAL_CAMERA_CAPTURE_PORT]; preview_input_port = state.preview_parameters.preview_component->input[0]; encoder_input_port = state.encoder_component->input[0]; encoder_output_port = state.encoder_component->output[0]; if (state.preview_parameters.wantPreview ) { if (state.verbose) { fprintf(stderr, "Connecting camera preview port to preview input port\n"); fprintf(stderr, "Starting video preview\n"); } // PR : we don't want preview // Connect camera to preview // status = connect_ports(camera_preview_port, preview_input_port, &state.preview_connection); } VCOS_STATUS_T vcos_status; if (state.verbose) fprintf(stderr, "Connecting camera stills port to encoder input port\n"); // Now connect the camera to the encoder status = connect_ports(camera_still_port, encoder_input_port, &state.encoder_connection); if (status != MMAL_SUCCESS) { vcos_log_error("%s: Failed to connect camera video port to encoder input", __func__); goto error; } // Set up our userdata - this is passed though to the callback where we need the information. // Null until we open our filename callback_data.file_handle = NULL; callback_data.pstate = &state; vcos_status = vcos_semaphore_create(&callback_data.complete_semaphore, "RaspiStill-sem", 0); vcos_assert(vcos_status == VCOS_SUCCESS); encoder_output_port->userdata = (struct MMAL_PORT_USERDATA_T *)&callback_data; if (state.verbose) fprintf(stderr, "Enabling encoder output port\n"); // Enable the encoder output port and tell it its callback function status = mmal_port_enable(encoder_output_port, encoder_buffer_callback); if (status != MMAL_SUCCESS) { vcos_log_error("Failed to setup encoder output"); goto error; } { int num_iterations = state.timelapse ? state.timeout / state.timelapse : 1; int frame; for (frame = 1;frame<=num_iterations; frame++) { if (state.timelapse) vcos_sleep(state.timelapse); else vcos_sleep(state.timeout); // Send all the buffers to the encoder output port int num = mmal_queue_length(state.encoder_pool->queue); int q; for (q=0;qqueue); if (!buffer) vcos_log_error("Unable to get a required buffer %d from pool queue", q); if (mmal_port_send_buffer(encoder_output_port, buffer)!= MMAL_SUCCESS) vcos_log_error("Unable to send a buffer to encoder output port (%d)", q); } if (mmal_port_parameter_set_boolean(camera_still_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS) { vcos_log_error("%s: Failed to start capture", __func__); } else { // Wait for capture to complete // For some reason using vcos_semaphore_wait_timeout sometimes returns immediately with bad parameter error // even though it appears to be all correct, so reverting to untimed one until figure out why its erratic vcos_semaphore_wait(&callback_data.complete_semaphore); } } // end for (frame) vcos_semaphore_delete(&callback_data.complete_semaphore); } error: mmal_status_to_int(status); // Disable all our ports that are not handled by connections check_disable_port(camera_video_port); check_disable_port(encoder_output_port); // PR : we don't want preview //if (state.preview_parameters.wantPreview ) // mmal_connection_destroy(state.preview_connection); mmal_connection_destroy(state.encoder_connection); /* Disable components */ if (state.encoder_component) mmal_component_disable(state.encoder_component); if (state.preview_parameters.preview_component) mmal_component_disable(state.preview_parameters.preview_component); if (state.camera_component) mmal_component_disable(state.camera_component); destroy_encoder_component(&state); raspipreview_destroy(&state.preview_parameters); destroy_camera_component(&state); if (state.verbose) fprintf(stderr, "Close down completed, all components disconnected, disabled and destroyed\n\n"); } if (status != 0) raspicamcontrol_check_configuration(128); return 0; }