diff options
Diffstat (limited to 'circuitpython/lib/quirc/demo/camera.c')
| -rw-r--r-- | circuitpython/lib/quirc/demo/camera.c | 591 |
1 files changed, 591 insertions, 0 deletions
diff --git a/circuitpython/lib/quirc/demo/camera.c b/circuitpython/lib/quirc/demo/camera.c new file mode 100644 index 0000000..8e8de6b --- /dev/null +++ b/circuitpython/lib/quirc/demo/camera.c @@ -0,0 +1,591 @@ +/* quirc -- QR-code recognition library + * Copyright (C) 2010-2014 Daniel Beer <dlbeer@gmail.com> + * + * Permission to use, copy, modify, and/or distribute this software for any + * purpose with or without fee is hereby granted, provided that the above + * copyright notice and this permission notice appear in all copies. + * + * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES + * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR + * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES + * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN + * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF + * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. + */ + +#include <stdint.h> +#include <string.h> +#include <fcntl.h> +#include <errno.h> +#include <sys/types.h> +#include <sys/stat.h> +#include <sys/ioctl.h> +#include <sys/mman.h> +#include <unistd.h> +#ifdef __OpenBSD__ +#include <sys/videoio.h> +#else +#include <linux/videodev2.h> +#endif +#include "camera.h" + +/************************************************************************ + * Fraction arithmetic + */ + +static int gcd(int a, int b) +{ + if (a < 0) + a = -a; + if (b < 0) + b = -b; + + for (;;) { + if (a < b) { + const int t = a; + + a = b; + b = t; + } + + if (!b) + break; + + a %= b; + } + + return a; +} + +static void frac_reduce(const struct v4l2_fract *f, struct v4l2_fract *g) +{ + const int x = gcd(f->numerator, f->denominator); + int n = f->numerator; + int d = f->denominator; + + if (d < 0) { + n = -n; + d = -d; + } + + g->numerator = n / x; + g->denominator = d / x; +} + +static void frac_add(const struct v4l2_fract *a, const struct v4l2_fract *b, + struct v4l2_fract *r) +{ + r->numerator = a->numerator * b->denominator + + b->numerator * b->denominator; + r->denominator = a->denominator * b->denominator; + + frac_reduce(r, r); +} + +static void frac_sub(const struct v4l2_fract *a, const struct v4l2_fract *b, + struct v4l2_fract *r) +{ + r->numerator = a->numerator * b->denominator - + b->numerator * b->denominator; + r->denominator = a->denominator * b->denominator; + + frac_reduce(r, r); +} + +static int frac_cmp(const struct v4l2_fract *a, const struct v4l2_fract *b) +{ + return a->numerator * b->denominator - b->numerator * b->denominator; +} + +static void frac_mul(const struct v4l2_fract *a, const struct v4l2_fract *b, + struct v4l2_fract *r) +{ + r->numerator = a->numerator * b->numerator; + r->denominator = a->denominator * b->denominator; + + frac_reduce(r, r); +} + +static void frac_div(const struct v4l2_fract *a, const struct v4l2_fract *b, + struct v4l2_fract *r) +{ + r->numerator = a->numerator * b->denominator; + r->denominator = a->denominator * b->numerator; + + frac_reduce(r, r); +} + +static int frac_cmp_ref(const struct v4l2_fract *ref, + const struct v4l2_fract *a, + const struct v4l2_fract *b) +{ + struct v4l2_fract da; + struct v4l2_fract db; + + frac_sub(a, ref, &da); + frac_sub(b, ref, &db); + + if (da.numerator < 0) + da.numerator = -da.numerator; + if (db.numerator < 0) + db.numerator = -db.numerator; + + return frac_cmp(&da, &db); +} + +/************************************************************************ + * Parameter searching and choosing + */ + +static camera_format_t map_fmt(uint32_t pf) +{ + if (pf == V4L2_PIX_FMT_YUYV) + return CAMERA_FORMAT_YUYV; + + if (pf == V4L2_PIX_FMT_MJPEG) + return CAMERA_FORMAT_MJPEG; + + return CAMERA_FORMAT_UNKNOWN; +} + +static int find_best_format(int fd, uint32_t *fmt_ret) +{ + struct v4l2_fmtdesc best; + int i = 1; + + memset(&best, 0, sizeof(best)); + best.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + best.index = 0; + + if (ioctl(fd, VIDIOC_ENUM_FMT, &best) < 0) + return -1; + + for (;;) { + struct v4l2_fmtdesc f; + + memset(&f, 0, sizeof(f)); + f.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + f.index = ++i; + + if (ioctl(fd, VIDIOC_ENUM_FMT, &f) < 0) + break; + + if (map_fmt(f.pixelformat) > map_fmt(best.pixelformat)) + memcpy(&best, &f, sizeof(best)); + } + + if (fmt_ret) + *fmt_ret = best.pixelformat; + + return 0; +} + +static int step_to_discrete(int min, int max, int step, int target) +{ + int offset; + + if (target < min) + return min; + + if (target > max) + return max; + + offset = (target - min) % step; + if ((offset * 2 > step) && (target + step <= max)) + target += step; + + return target - offset; +} + +static int score_discrete(const struct v4l2_frmsizeenum *f, int w, int h) +{ + const int dw = f->discrete.width - w; + const int dh = f->discrete.height - h; + + return dw * dw + dh * dh; +} + +static int find_best_size(int fd, uint32_t pixel_format, + int target_w, int target_h, + int *ret_w, int *ret_h) +{ + struct v4l2_frmsizeenum best; + int i = 1; + + memset(&best, 0, sizeof(best)); + best.index = 0; + best.pixel_format = pixel_format; + + if (ioctl(fd, VIDIOC_ENUM_FRAMESIZES, &best) < 0) + return -1; + + if (best.type != V4L2_FRMSIZE_TYPE_DISCRETE) { + *ret_w = step_to_discrete(best.stepwise.min_width, + best.stepwise.max_width, + best.stepwise.step_width, + target_w); + *ret_h = step_to_discrete(best.stepwise.min_height, + best.stepwise.max_height, + best.stepwise.step_height, + target_h); + return 0; + } + + for (;;) { + struct v4l2_frmsizeenum f; + + memset(&f, 0, sizeof(f)); + f.index = ++i; + f.pixel_format = pixel_format; + + if (ioctl(fd, VIDIOC_ENUM_FRAMESIZES, &f) < 0) + break; + + if (score_discrete(&f, target_w, target_h) < + score_discrete(&best, target_w, target_h)) + memcpy(&best, &f, sizeof(best)); + } + + *ret_w = best.discrete.width; + *ret_h = best.discrete.height; + + return 0; +} + +static int find_best_rate(int fd, uint32_t pixel_format, + int w, int h, int target_n, int target_d, + int *ret_n, int *ret_d) +{ + const struct v4l2_fract target = { + .numerator = target_n, + .denominator = target_d + }; + struct v4l2_frmivalenum best; + int i = 1; + + memset(&best, 0, sizeof(best)); + best.index = 0; + best.pixel_format = pixel_format; + best.width = w; + best.height = h; + + if (ioctl(fd, VIDIOC_ENUM_FRAMEINTERVALS, &best) < 0) + return -1; + + if (best.type != V4L2_FRMIVAL_TYPE_DISCRETE) { + struct v4l2_fract t; + + if (frac_cmp(&target, &best.stepwise.min) < 0) { + *ret_n = best.stepwise.min.numerator; + *ret_d = best.stepwise.min.denominator; + } + + if (frac_cmp(&target, &best.stepwise.max) > 0) { + *ret_n = best.stepwise.max.numerator; + *ret_d = best.stepwise.max.denominator; + } + + frac_sub(&target, &best.stepwise.min, &t); + frac_div(&t, &best.stepwise.step, &t); + if (t.numerator * 2 >= t.denominator) + t.numerator += t.denominator; + t.numerator /= t.denominator; + t.denominator = 1; + frac_mul(&t, &best.stepwise.step, &t); + frac_add(&t, &best.stepwise.max, &t); + + if (frac_cmp(&t, &best.stepwise.max) > 0) { + *ret_n = best.stepwise.max.numerator; + *ret_d = best.stepwise.max.denominator; + } else { + *ret_n = t.numerator; + *ret_d = t.denominator; + } + + return 0; + } + + for (;;) { + struct v4l2_frmivalenum f; + + memset(&f, 0, sizeof(f)); + f.index = ++i; + f.pixel_format = pixel_format; + f.width = w; + f.height = h; + + if (ioctl(fd, VIDIOC_ENUM_FRAMEINTERVALS, &f) < 0) + break; + + if (frac_cmp_ref(&target, &f.discrete, &best.discrete) < 0) + memcpy(&best, &f, sizeof(best)); + } + + *ret_n = best.discrete.numerator; + *ret_d = best.discrete.denominator; + + return 0; +} + +/************************************************************************ + * Public interface + */ + +void camera_init(struct camera *c) +{ + c->fd = -1; + c->buf_count = 0; + c->s_on = 0; +} + +void camera_destroy(struct camera *c) +{ + camera_close(c); +} + +int camera_open(struct camera *c, const char *path, + int target_w, int target_h, + int tr_n, int tr_d) +{ + struct v4l2_format fmt; + struct v4l2_streamparm parm; + uint32_t pf; + int w, h; + int n, d; + + if (c->fd >= 0) + camera_close(c); + + /* Open device and get basic properties */ + c->fd = open(path, O_RDWR); + if (c->fd < 0) + return -1; + + /* Find a pixel format from the list */ + if (find_best_format(c->fd, &pf) < 0) + goto fail; + + /* Find a frame size */ + if (find_best_size(c->fd, pf, target_w, target_h, &w, &h) < 0) + goto fail; + + /* Find a frame rate */ + if (find_best_rate(c->fd, pf, w, h, tr_n, tr_d, &n, &d) < 0) + goto fail; + + /* Set format */ + memset(&fmt, 0, sizeof(fmt)); + fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + fmt.fmt.pix.width = w; + fmt.fmt.pix.height = h; + fmt.fmt.pix.pixelformat = pf; + if (ioctl(c->fd, VIDIOC_S_FMT, &fmt) < 0) + goto fail; + + memset(&fmt, 0, sizeof(fmt)); + fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (ioctl(c->fd, VIDIOC_G_FMT, &fmt) < 0) + goto fail; + + /* Set frame interval */ + memset(&parm, 0, sizeof(parm)); + parm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + parm.parm.capture.timeperframe.numerator = n; + parm.parm.capture.timeperframe.denominator = d; + if (ioctl(c->fd, VIDIOC_S_PARM, &parm) < 0) + goto fail; + + memset(&parm, 0, sizeof(parm)); + parm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + if (ioctl(c->fd, VIDIOC_G_PARM, &parm) < 0) + goto fail; + + c->parms.format = map_fmt(fmt.fmt.pix.pixelformat); + c->parms.width = fmt.fmt.pix.width; + c->parms.height = fmt.fmt.pix.height; + c->parms.pitch_bytes = fmt.fmt.pix.bytesperline; + c->parms.interval_n = parm.parm.capture.timeperframe.numerator; + c->parms.interval_d = parm.parm.capture.timeperframe.denominator; + + return 0; + +fail: + { + const int e = errno; + + close(c->fd); + c->fd = -1; + errno = e; + } + + return -1; +} + +void camera_close(struct camera *c) +{ + camera_off(c); + camera_unmap(c); + + if (c->fd < 0) + return; + + close(c->fd); + c->fd = -1; +} + +int camera_map(struct camera *c, int buf_count) +{ + struct v4l2_requestbuffers reqbuf; + int count; + int i; + + if (buf_count > CAMERA_MAX_BUFFERS) + buf_count = CAMERA_MAX_BUFFERS; + + if (buf_count <= 0) { + errno = EINVAL; + return -1; + } + + if (c->fd < 0) { + errno = EBADF; + return -1; + } + + if (c->buf_count) + camera_unmap(c); + + memset(&reqbuf, 0, sizeof(reqbuf)); + reqbuf.count = buf_count; + reqbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + reqbuf.memory = V4L2_MEMORY_MMAP; + + if (ioctl(c->fd, VIDIOC_REQBUFS, &reqbuf) < 0) + return -1; + + count = reqbuf.count; + if (count > CAMERA_MAX_BUFFERS) + count = CAMERA_MAX_BUFFERS; + + /* Query all buffers */ + for (i = 0; i < count; i++) { + struct v4l2_buffer buf; + struct camera_buffer *cb = &c->buf_desc[i]; + + memset(&buf, 0, sizeof(buf)); + buf.index = i; + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + if (ioctl(c->fd, VIDIOC_QUERYBUF, &buf) < 0) + return -1; + + cb->offset = buf.m.offset; + cb->size = buf.length; + cb->addr = mmap(NULL, cb->size, PROT_READ, + MAP_SHARED, c->fd, cb->offset); + + if (cb->addr == MAP_FAILED) { + const int save = errno; + + i--; + while (i >= 0) { + cb = &c->buf_desc[i--]; + munmap(cb->addr, cb->size); + } + + errno = save; + return -1; + } + } + + c->buf_count = count; + return 0; +} + +void camera_unmap(struct camera *c) +{ + int i; + + for (i = 0; i < c->buf_count; i++) { + struct camera_buffer *cb = &c->buf_desc[i]; + + munmap(cb->addr, cb->size); + } + + c->buf_count = 0; +} + +int camera_on(struct camera *c) +{ + int type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + + if (c->s_on) + return 0; + + if (c->fd < 0) { + errno = EBADF; + return -1; + } + + if (ioctl(c->fd, VIDIOC_STREAMON, &type) < 0) + return -1; + + c->s_on = 1; + c->s_qc = 0; + c->s_qhead = 0; + return 0; +} + +void camera_off(struct camera *c) +{ + int type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + + if (!c->s_on) + return; + + ioctl(c->fd, VIDIOC_STREAMOFF, &type); + c->s_on = 0; +} + +int camera_enqueue_all(struct camera *c) +{ + while (c->s_qc < c->buf_count) { + struct v4l2_buffer buf; + + memset(&buf, 0, sizeof(buf)); + buf.index = (c->s_qc + c->s_qhead) % c->buf_count; + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + buf.memory = V4L2_MEMORY_MMAP; + + if (ioctl(c->fd, VIDIOC_QBUF, &buf) < 0) + return -1; + + c->s_qc++; + } + + return 0; +} + +int camera_dequeue_one(struct camera *c) +{ + struct v4l2_buffer buf; + + if (!c->s_qc) { + errno = EINVAL; + return -1; + } + + memset(&buf, 0, sizeof(buf)); + buf.memory = V4L2_MEMORY_MMAP; + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; + + if (ioctl(c->fd, VIDIOC_DQBUF, &buf) < 0) + return -1; + + c->s_qc--; + if (++c->s_qhead >= c->buf_count) + c->s_qhead = 0; + + return 0; +} |