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Thirdparty/Pangolin/include/pangolin/video/drivers/v4l.h

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+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * Copyright (c) 2011 Steven Lovegrove
+ *
+ * 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.
+ */
+
+#pragma once
+
+#include <pangolin/pangolin.h>
+#include <pangolin/video/video.h>
+
+#include <asm/types.h>
+#include <linux/videodev2.h>
+
+namespace pangolin
+{
+
+typedef enum {
+    IO_METHOD_READ,
+    IO_METHOD_MMAP,
+    IO_METHOD_USERPTR,
+} io_method;
+
+struct buffer {
+    void*  start;
+    size_t length;
+};
+
+class PANGOLIN_EXPORT V4lVideo : public VideoInterface, public VideoUvcInterface, public VideoPropertiesInterface
+{
+public:
+    V4lVideo(const char* dev_name, io_method io = IO_METHOD_MMAP, unsigned iwidth=0, unsigned iheight=0);
+    ~V4lVideo();
+    
+    //! Implement VideoInput::Start()
+    void Start();
+    
+    //! Implement VideoInput::Stop()
+    void Stop();
+
+    //! Implement VideoInput::SizeBytes()
+    size_t SizeBytes() const;
+
+    //! Implement VideoInput::Streams()
+    const std::vector<StreamInfo>& Streams() const;
+    
+    //! Implement VideoInput::GrabNext()
+    bool GrabNext( unsigned char* image, bool wait = true );
+    
+    //! Implement VideoInput::GrabNewest()
+    bool GrabNewest( unsigned char* image, bool wait = true );
+
+    //! Implement VideoUvcInterface::IoCtrl()
+    int IoCtrl(uint8_t unit, uint8_t ctrl, unsigned char* data, int len, UvcRequestCode req_code);
+
+    bool GetExposure(int& exp_us);
+
+    bool SetExposure(int exp_us);
+
+    bool GetGain(float& gain);
+
+    bool SetGain(float gain);
+
+    int GetFileDescriptor() const{
+        return fd;
+    }
+
+    //! Access JSON properties of device
+    const picojson::value& DeviceProperties() const;
+
+    //! Access JSON properties of most recently captured frame
+    const picojson::value& FrameProperties() const;
+    
+protected:
+    void InitPangoDeviceProperties();
+
+
+    int ReadFrame(unsigned char* image);
+    void Mainloop();
+    
+    void init_read(unsigned int buffer_size);
+    void init_mmap(const char* dev_name);
+    void init_userp(const char* dev_name, unsigned int buffer_size);
+    
+    void init_device(const char* dev_name, unsigned iwidth, unsigned iheight, unsigned ifps, unsigned v4l_format = V4L2_PIX_FMT_YUYV, v4l2_field field = V4L2_FIELD_INTERLACED);
+    void uninit_device();
+    
+    void open_device(const char* dev_name);
+    void close_device();
+    
+    std::vector<StreamInfo> streams;
+    
+    io_method io;
+    int       fd;
+    buffer*   buffers;
+    unsigned  int n_buffers;
+    bool running;
+    unsigned width;
+    unsigned height;
+    float fps;
+    size_t image_size;
+
+    picojson::value device_properties;
+    picojson::value frame_properties;
+};
+
+}