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- /*
- * Copyright (C) 2021 Alibaba Group Holding Limited
- * Author: LuChongzhi <chongzhi.lcz@alibaba-inc.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- */
- #include <stdio.h>
- #include <stdlib.h>
- #include <string.h>
- #include <errno.h>
- #include <pthread.h>
- #define LOG_LEVEL 3
- #define LOG_PREFIX "camera_demo4"
- #include <syslog.h>
- #include <csi_frame_ex.h>
- #include <csi_camera.h>
- #define TEST_DEVICE_NAME "/dev/video0"
- typedef struct cam_channel_control {
- pthread_t thread_id;
- bool run;
- csi_cam_handle_t cam_handle;
- csi_camera_channel_cfg_s chn_cfg;
- } cam_channel_control_t;
- static void dump_camera_meta(csi_frame_ex_s *frame);
- static void *channel_thread(void *arg);
- int main(int argc, char *argv[])
- {
- bool running = true;
- csi_camera_info_s camera_info;
- // 获取设备中,所有的Camera
- struct csi_camera_infos camera_infos;
- csi_camera_query_list(&camera_infos);
- LOG_O("csi_camera_query_list() OK\n");
- // 打印所有设备所支持的Camera
- for (uint32_t i = 0; i < camera_infos.count; i++) {
- printf("Camera[%d]: camera_name='%s', device_name='%s', bus_info='%s', capabilities=0x%08x\n",
- i, camera_infos.info[i].camera_name, camera_infos.info[i].device_name,
- camera_infos.info[i].bus_info, camera_infos.info[i].capabilities);
- }
- /* Camera[0]: camera_name='RGB_Camera', device_name='/dev/video0', bus_info='CSI-MIPI', capabilities=0x00800001
- * Camera[1]: camera_name:'Mono_Camera', device_name:'/dev/video8', bus_info='USB', capabilities=0x00000001
- */
- bool found_camera = false;
- for (uint32_t i = 0; i < camera_infos.count; i++) {
- if (strcmp(camera_infos.info[i].device_name, TEST_DEVICE_NAME) == 0) {
- camera_info = camera_infos.info[i];
- printf("found device_name:'%s'\n", camera_info.device_name);
- found_camera = true;
- break;
- }
- }
- if (!found_camera) {
- LOG_E("Can't find camera_name:'%s'\n", TEST_DEVICE_NAME);
- exit(-1);
- }
- printf("The caps are:\n");
- for (uint32_t i = 1; i < 0x80000000; i = i << 1) {
- switch (camera_info.capabilities & i) {
- case CSI_CAMERA_CAP_VIDEO_CAPTURE:
- printf("\t Video capture\n");
- break;
- case CSI_CAMERA_CAP_META_CAPTURE:
- printf("\t metadata capture\n");
- break;
- default:
- if (camera_info.capabilities & i) {
- printf("\t unknown capabilities(0x%08x)\n", camera_info.capabilities & i);
- }
- break;
- }
- }
- /* The caps are: Video capture, metadata capture */
- // 打开Camera设备获取句柄,作为后续操对象
- csi_cam_handle_t cam_handle;
- csi_camera_open(&cam_handle, camera_info.device_name);
- LOG_O("csi_camera_open() OK\n");
- // 获取Camera支持的工作模式
- struct csi_camera_modes camera_modes;
- camera_modes.count = 0;
- csi_camera_get_modes(cam_handle, &camera_modes);
- LOG_O("csi_camera_get_modes() OK\n");
- // 打印camera所支持的所有工作模式
- printf(" Camera:'%s' modes are:{\n", TEST_DEVICE_NAME);
- for (uint32_t i = 0; i < camera_modes.count; i++) {
- printf("\t mode_id=%d: description:'%s'\n",
- camera_modes.modes[i].mode_id, camera_modes.modes[i].description);
- }
- printf("}\n");
- // 设置camera的工作模式及其配置
- csi_camera_mode_cfg_s camera_cfg;
- camera_cfg.mode_id = 1;
- camera_cfg.calibriation = NULL; // 采用系统默认配置
- camera_cfg.lib3a = NULL; // 采用系统默认配置
- csi_camera_set_mode(cam_handle, &camera_cfg);
- // 获取单个可控单元的属性
- csi_camera_property_description_s description;
- description.id = CSI_CAMERA_PID_HFLIP;
- csi_camera_query_property(cam_handle, &description);
- printf("properity id=0x%08x type=%d default=%d value=%d\n",
- description.id, description.type,
- description.default_value.bool_value, description.value.bool_value);
- /* id=0x0098090x, type=2 default=0 value=1 */
- /* Other example:
- * id=0x0098090y, type=3 min=0 max=255 step=1 default=127 value=116
- * id=0x0098090z, type=4 min=0 max=3 default=0 value=2
- * 0: IDLE
- * 1: BUSY
- * 2: REACHED
- * 3: FAILED
- */
- // 轮询获取所有可控制的单元
- description.id = CSI_CAMERA_PID_HFLIP;
- while (!csi_camera_query_property(cam_handle, &description)) {
- //printf(...); // 打印属性
- description.id |= CSI_CAMERA_FLAG_NEXT_CTRL;
- }
- LOG_O("csi_camera_query_property() OK\n");
- // 同时配置多个参数
- csi_camera_properties_s properties;
- csi_camera_property_s property[2];
- property[0].id = CSI_CAMERA_PID_HFLIP;
- property[0].type = CSI_CAMERA_PROPERTY_TYPE_BOOLEAN;
- property[0].value.bool_value = true;
- property[0].id = CSI_CAMERA_PID_VFLIP;
- property[0].type = CSI_CAMERA_PROPERTY_TYPE_BOOLEAN;
- property[0].value.bool_value = true;
- properties.count = 2;
- properties.property = property;
- csi_camera_get_property(cam_handle, &properties);
- LOG_O("csi_camera_get_property() OK\n");
- cam_channel_control_t channel_control[2];
- for (int i = 0; i < 2; i++) {
- cam_channel_control_t *chn_ctrl = &channel_control[i];
- pthread_t *thread_id = &(chn_ctrl->thread_id);
- csi_camera_channel_cfg_s *chn_cfg = &(chn_ctrl->chn_cfg);
- chn_ctrl->run = true;
- chn_ctrl->cam_handle = cam_handle;
- chn_cfg->frm_cnt = 4;
- if (i = 0) {
- chn_cfg->chn_id = CSI_CAMERA_CHANNEL_0;
- chn_cfg->img_fmt.width = 640;
- chn_cfg->img_fmt.height = 480;
- chn_cfg->img_fmt.pix_fmt = CSI_PIX_FMT_NV12;
- } else {
- chn_cfg->chn_id = CSI_CAMERA_CHANNEL_1;
- chn_cfg->img_fmt.width = 1280;
- chn_cfg->img_fmt.height = 720;
- chn_cfg->img_fmt.pix_fmt = CSI_PIX_FMT_I420;
- }
- chn_cfg->meta_fields = CSI_CAMERA_META_DEFAULT_FIELDS;
- chn_cfg->capture_type = CSI_CAMERA_CHANNEL_CAPTURE_VIDEO |
- CSI_CAMERA_CHANNEL_CAPTURE_META;
- pthread_create(thread_id, NULL, channel_thread, chn_ctrl);
- sleep(1); // channel[1] start after 1 second
- }
- sleep(3);
- channel_control[0].run = false;
- sleep(2);
- channel_control[1].run = false;
- for (int i = 0; i < 2; i++) {
- cam_channel_control_t *chn_ctrl = &channel_control[i];
- int chn_id = chn_ctrl->chn_cfg.chn_id;
- if (pthread_join(chn_ctrl->thread_id, NULL)) {
- LOG_E("[chn-%d] pthread_join() failed, %s\n", chn_id, strerror(errno));
- }
- }
- csi_camera_close(cam_handle);
- return 0;
- }
- static void *channel_thread(void *arg)
- {
- int ret;
- cam_channel_control_t *chn_ctrl = (cam_channel_control_t *)arg;
- csi_cam_handle_t cam_handle = chn_ctrl->cam_handle;
- int chn_id = chn_ctrl->chn_cfg.chn_id;
- ret = csi_camera_channel_open(cam_handle, &(chn_ctrl->chn_cfg));
- if (ret != 0) {
- LOG_E("[chn_%d] csi_camera_channel_open() failed, ret=%d\n", chn_id, ret);
- return NULL;
- }
- LOG_O("[chn_%d] csi_camera_channel_open() OK\n", chn_id);
- // 订阅Event
- csi_cam_event_handle_t event_handle;
- csi_camera_create_event(&event_handle, cam_handle);
- struct csi_camera_event_subscription subscribe_cam;
- struct csi_camera_event_subscription subscribe_chn;
- subscribe_cam.type = CSI_CAMERA_EVENT_TYPE_CAMERA; // 订阅Camera的ERROR事件
- subscribe_cam.id = CSI_CAMERA_EVENT_WARNING | CSI_CAMERA_EVENT_ERROR;
- csi_camera_subscribe_event(event_handle, &subscribe_cam);
- subscribe_chn.type = chn_id; // 订阅Channel0的FRAME_READY事件
- subscribe_chn.id = CSI_CAMERA_CHANNEL_EVENT_FRAME_READY |
- CSI_CAMERA_CHANNEL_EVENT_OVERFLOW;
- csi_camera_subscribe_event(event_handle, &subscribe_chn);
- LOG_O("Event subscript OK\n");
- // 处理订阅的Event
- LOG_O("[chn_%d] Starting get events...\n", chn_id);
- csi_frame_ex_s frame;
- struct csi_camera_event event;
- while (chn_ctrl->run) {
- int timeout = 100; // unit: ms, -1 means wait forever, or until error occurs
- LOG_D("[chn_%d] before csi_camera_get_event\n", chn_id);
- csi_camera_get_event(event_handle, &event, timeout);
- LOG_D("[chn_%d] after csi_camera_get_event\n", chn_id);
- switch (event.type) {
- case CSI_CAMERA_EVENT_TYPE_CAMERA:
- switch (event.id) {
- case CSI_CAMERA_EVENT_ERROR:
- // do sth.
- break;
- default:
- break;
- }
- case CSI_CAMERA_EVENT_TYPE_CHANNEL0:
- case CSI_CAMERA_EVENT_TYPE_CHANNEL1:
- if (event.type != chn_id) {
- LOG_E("[chn_%d] Recv type(%d) is not expected\n",
- chn_id, event.type);
- break;
- }
- switch (event.id) {
- case CSI_CAMERA_CHANNEL_EVENT_FRAME_READY: {
- LOG_O("[chn_%d] Get ready frame\n", chn_id);
- int read_frame_count = csi_camera_get_frame_count(cam_handle, chn_id);
- for (int i = 0; i < read_frame_count; i++) {
- csi_camera_get_frame(cam_handle, chn_id, &frame, timeout);
- dump_camera_meta(&frame);
- csi_camera_put_frame(&frame);
- }
- break;
- }
- default:
- LOG_W("[chn_%d] Get unknown event type\n", event.type);
- break;
- }
- default:
- break;
- }
- }
- csi_camera_unsubscribe_event(event_handle, &subscribe_cam);
- csi_camera_unsubscribe_event(event_handle, &subscribe_chn);
- csi_camera_destory_event(event_handle);
- csi_camera_channel_stop(cam_handle, chn_id);
- pthread_exit(NULL);
- }
- static void dump_camera_meta(csi_frame_ex_s *frame)
- {
- int i;
- if (frame->frame_meta.type != CSI_META_TYPE_CAMERA)
- return;
- csi_camera_meta_s *meta_data = (csi_camera_meta_s *)frame->frame_meta.data;
- int meta_count = meta_data->count;
- csi_camera_meta_unit_s meta_unit;
- for (i = 0; i < meta_count; i++) {
- csi_camera_frame_get_meta_unit(
- &meta_unit, meta_data, CSI_CAMERA_META_ID_FRAME_ID);
- printf("meta_id=%d, meta_type=%d, meta_value=%d",
- meta_unit.id, meta_unit.type, meta_unit.int_value);
- }
- }
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