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+// video4linux.cc
+// robert - programme du robot 2005. {{{
+//
+// Copyright (C) 2005 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2005.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// 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.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "video4linux.hh"
+#include "utils/errno_exception.hh"
+#include "utils/fd_set.hh"
+
+#include <unistd.h>
+#include <fcntl.h>
+#include <linux/videodev.h>
+#include <sys/ioctl.h>
+#include <sys/mman.h>
+#include <stdexcept>
+
+/// Constructeur.
+Video4Linux::Video4Linux (const char *dev, Image::PixelFormat pixelFormat,
+ int brightness /*58000*/)
+ : fd_ (-1), width_ (-1), height_ (-1), pixelFormat_ (pixelFormat),
+ rgb_ (pixelFormat == Image::rgb || pixelFormat == Image::bgr),
+ brightness_ (brightness), contrast_ (32768)
+{
+ if (pixelFormat == Image::hsi)
+ throw std::invalid_argument ("hsi not supported by Video4Linux");
+ open (dev);
+}
+
+/// Destructeur.
+Video4Linux::~Video4Linux (void)
+{
+ close ();
+}
+
+/// Lit une image, lance une exception en cas d'erreur.
+void
+Video4Linux::read (uint8_t *buf, unsigned size)
+{
+ if (buf && size != width_ * height_ * bpp_)
+ throw std::invalid_argument ("Video4Linux::read");
+ // Mmap.
+ void *map;
+ map = mmap (0, bufSize_, PROT_READ | PROT_WRITE, MAP_SHARED, fd_, 0);
+ // Capture.
+ video_mmap mmap;
+ mmap.format = rgb_ ? VIDEO_PALETTE_RGB24 : VIDEO_PALETTE_YUV422;
+ mmap.frame = 0;
+ mmap.width = width_;
+ mmap.height = height_;
+ ioctl (fd_, VIDIOCMCAPTURE, &mmap);
+ // Sync.
+ ioctl (fd_, VIDIOCSYNC, &mmap);
+ // Copy.
+ if (buf)
+ {
+ unsigned char *src = reinterpret_cast<unsigned char *> (map);
+ unsigned char *dst = reinterpret_cast<unsigned char *> (buf);
+ switch (pixelFormat_)
+ {
+ case Image::rgb:
+ for (int i = 0; i < width_ * height_; ++i)
+ {
+ *dst++ = src[2];
+ *dst++ = src[1];
+ *dst++ = src[0];
+ src += 3;
+ }
+ break;
+ memcpy (buf, map, size);
+ break;
+ case Image::yuv:
+ for (int i = 0; i < width_ * height_ / 2; ++i)
+ {
+ *dst++ = src[0]; // Y1
+ *dst++ = src[1]; // U
+ *dst++ = src[3]; // V
+ *dst++ = src[2]; // Y2
+ *dst++ = src[1]; // U
+ *dst++ = src[3]; // V
+ src += 4;
+ }
+ break;
+ case Image::bgr:
+ case Image::yuv422:
+ case Image::hsi:
+ memcpy (buf, map, size);
+ break;
+ }
+ }
+ // Munmap.
+ munmap (map, bufSize_);
+}
+
+/// Calibre la caméra.
+void
+Video4Linux::calibrate (void)
+{
+ for (int i = 0; i < 100; ++i)
+ read (0, 0);
+}
+
+/// Attend qu'une image soit disponible, retourne true si oui.
+bool
+Video4Linux::wait (int timeout/*-1*/)
+{
+ FdSet fds;
+ fds.set (fd_);
+ return fds.wait (timeout);
+}
+
+/// Ouvre le périphérique.
+void
+Video4Linux::open (const char *dev)
+{
+ if (fd_ != -1)
+ close ();
+ fd_ = ::open (dev, O_RDWR);
+ if (fd_ == -1)
+ throw errno_exception (dev, errno);
+ // On récupère les cap.
+ video_capability cap;
+ if (ioctl (fd_, VIDIOCGCAP, &cap) == -1)
+ throw errno_exception (dev, errno);
+ // On veut du RGB24.
+ video_picture pic;
+ ioctl (fd_, VIDIOCGPICT, &pic);
+ pic.palette = rgb_ ? VIDEO_PALETTE_RGB24 : VIDEO_PALETTE_YUV422;
+ bpp_ = Image::getBytePerPixel (pixelFormat_);
+ pic.brightness = brightness_;
+ pic.contrast = contrast_;
+ ioctl (fd_, VIDIOCSPICT, &pic);
+ // Channel.
+ video_channel chn;
+ ioctl (fd_, VIDIOCGCHAN, &chn);
+ chn.channel = 0;
+ chn.norm = VIDEO_MODE_PAL;
+ ioctl (fd_, VIDIOCSCHAN, &chn);
+ // Récupères les infos sur la camera.
+ video_window win;
+ ioctl (fd_, VIDIOCGWIN, &win);
+ width_ = win.width;
+ height_ = win.height;
+ // Initialisation mmap.
+ video_mbuf mbuf;
+ ioctl (fd_, VIDIOCGMBUF, &mbuf);
+ bufSize_ = mbuf.size;
+}
+
+/// Ferme le périphérique.
+void
+Video4Linux::close (void)
+{
+ ::close (fd_);
+}
+