123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264265266267268269270271272273274275276277278279280281282283284285286287288289290291292293294295296297298299300301302303304305306307308309310311312313314315316317318319320321322323324325326327328329330331332333334335336337338339340341342343344345346347348349350351352353354355356357358359360361362363364365366367368369370371372373374375376377378379380381382383384385386387388389390391392393394395396397398399400401402403404405406407408409410411412413414415416417418419420421422423424425426427428429430431432433434435436437438439440441442443444445446447448449450451452453454455456457458459460461462463464465466467468469470471472473474475476477478479480481482483484485486487488489490491492493494495496497498499500501502503504505506507508509510511512513514515516517518519520521522523524525526527528529530531532533534535536537538539540541542543544545546547548549550551552553554555556557558559560561562563564565566567568569570571572573574575576577578579580581582583584585586587588589590591592593594595596597598599600601602603604605606607608609610611612613614615616617618619620621622623624625626627628629630631632633634635636637638639640641642643644645646647648649650651652653654655656657658659660661662663664665666667668669670671672673674675676677678679680681682683684685686687688689690691692693694695696697698699700701702703704705706707708709710711712713714715716717718719720721722723724725726727728729730731732733734735736737738739740741742743744745746747748749750751752753754755756757758759760761762763764765766767768769770771772773774775776777778779780781782783784785786787788789790791792793794795796797798799800801802803804805806807 |
- /*
- * Copyright (C) 2021 Alibaba Group Holding Limited
- * Author: ShenWuYi <shenwuyi.swy@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 <fcntl.h>
- #include <unistd.h>
- #include <sys/mman.h>
- #define LOG_LEVEL 2
- #define LOG_PREFIX "cam_demo_multi"
- #include <syslog.h>
- #include <csi_frame.h>
- #include <csi_camera.h>
- #include <csi_camera_dev_api.h>
- #ifdef PLATFORM_SIMULATOR
- #include "apputilities.h"
- #endif
- #define MAX_CAM_NUM 3
- #define MAX_CHANNEL_NUM 3
- static void dump_camera_meta(csi_frame_s *frame);
- static void dump_camera_frame(csi_frame_s *frame, csi_pixel_fmt_e fmt, int camera_id);
- // extern int csi_camera_frame_unlock(csi_cam_handle_t cam_handle, csi_frame_s *frame);
- #define TEST_DEVICE_NAME "/dev/video0"
- #define CSI_CAMERA_TRUE 1
- #define CSI_CAMERA_FALSE 0
- typedef struct frame_fps {
- uint64_t frameNumber;
- struct timeval initTick;
- float fps;
- } frame_fps_t;
- typedef enum _frame_mode{
- FRAME_NONE =0,
- FRAME_SAVE_IMG =1,
- FRAME_SAVE_STREAM =2,
- FRAME_SAVE_DISPLAY,
- FRAME_INVALID,
- }frame_mode_t;
- typedef enum _cam_type{
- CAM_TYEP_RGB =0,
- CAM_TYEP_IR,
- CAM_TYEP_INVALID,
- }cam_type_e;
- typedef struct _camera_param{
- int video_id;
- int channel_num;
- struct {
- int width;
- int height;
- csi_pixel_fmt_e fmt;
- }out_pic[MAX_CHANNEL_NUM];
- cam_type_e type;
- frame_mode_t mode;
- int frames_to_stop;
- }camera_param_t;
- typedef struct event_queue_item{
- struct csi_camera_event evet;
- struct event_queue_item *next;
- }event_queue_item_t;
- typedef struct _camera_ctx{
- int cam_id;
- pthread_t cam_thread;
- int exit;
- csi_cam_handle_t cam_handle;
- int channel_num;
- csi_cam_event_handle_t event_handle;
- csi_camera_event_subscription_s event_subscribe;
- csi_camera_channel_cfg_s chn_cfg[MAX_CHANNEL_NUM];
- void * disaply_plink[MAX_CHANNEL_NUM];
- int frame_num;
- frame_mode_t frame_mode[MAX_CHANNEL_NUM];
- }camera_ctx_t;
- int file_id = 0;
- extern void *vi_plink_create(csi_camera_channel_cfg_s *chn_cfg);
- extern void vi_plink_release(void * plink);
- extern void display_camera_frame(void * plink, csi_frame_s *frame);
- static void usage(void)
- {
- printf(" 1 : RGB Camera id \n");
- printf(" 2 : RGB Camera id channel num\n");
- printf(" 3 : RGB Camera frame mode :0 none ,1 dump enable,2 display \n");
- printf(" 4 : RGB Camera frame num :0 not stop ,else frame num to stop \n");
- printf(" 5 : IR Camera id \n");
- printf(" 6 : IR Camera id channel num\n");
- printf(" 7 : IR Camera frame mode :0 none ,1 dump enable,2 display \n");
- printf(" 8 : IR Camera frame num :0 not stop ,else frame num to stop \n");
- }
- void printUsage(char *name)
- {
- printf("usage: %s [options]\n"
- "\n"
- " Available options:\n"
- " -f fisrt camera device 5 param \n"
- " 1:video id 2: channel num 3: camrea type (0->rgb ;1->IR) (mandatory)\n"
- " 3: mode【0->none ,1->save image,2->display 】(default 1) \n"
- " 4: frame num to stop 【0 not stop】(default 0) \n"
- " -s second camera device 5 param)\n"
- " same param setting as above)\n"
- " -t third camera device 5 param)\n"
- " same param setting above)\n"
- "\n", name);
- }
- static int parseParams(int argc, char **argv, camera_param_t *params)
- {
- int index =0;
- params[index].video_id = 2;
- params[index].type = CAM_TYEP_RGB;
- params[index].channel_num =1;
- params[index].out_pic[0].width = 1920;
- params[index].out_pic[0].height = 1080;
- params[index].out_pic[0].fmt = CSI_PIX_FMT_NV12;
- params[index].mode = FRAME_SAVE_IMG;
- params[index].frames_to_stop = 0;
- index++;
- params[index].video_id = 6;
- params[index].type = CAM_TYEP_IR;
- params[index].channel_num = 2;
- params[index].out_pic[0].width = 1080;
- params[index].out_pic[0].height = 1280;
- params[index].out_pic[0].fmt =CSI_PIX_FMT_RAW_12BIT;
- params[index].out_pic[1].width = 1080;
- params[index].out_pic[1].height = 1280;
- params[index].out_pic[1].fmt =CSI_PIX_FMT_RAW_12BIT;
- params[index].mode = FRAME_SAVE_IMG;
- params[index].frames_to_stop = 0;
- index++;
- return index;
- }
- static void get_system_time(const char *func, int line_num)
- {
- struct timeval cur_time;
- memset(&cur_time, 0, sizeof(cur_time));
- gettimeofday(&cur_time, 0);
- printf("%s %s line_num = %d, cur_time.tv_sec = %ld, cur_time.tv_usec = %ld\n",
- __func__, func, line_num, cur_time.tv_sec, cur_time.tv_usec);
- }
- static int camera_get_chl_id(int env_type, int *chl_id)
- {
- if (chl_id == NULL) {
- LOG_E("fail to check param chl_id = %p\n", chl_id);
- return -1;
- }
- switch (env_type) {
- case CSI_CAMERA_EVENT_TYPE_CHANNEL0:
- *chl_id = CSI_CAMERA_CHANNEL_0;
- break;
- case CSI_CAMERA_EVENT_TYPE_CHANNEL1:
- *chl_id = CSI_CAMERA_CHANNEL_1;
- break;
- case CSI_CAMERA_EVENT_TYPE_CHANNEL2:
- *chl_id = CSI_CAMERA_CHANNEL_2;
- break;
- default:
- LOG_D("%s fail to check env_type = %d unsupport\n", env_type);
- break;
- }
- return 0;
- }
- /***********************DSP ALGO *******************************/
- typedef struct cb_context{
- int id;
- csi_cam_handle_t cam_handle;
- int dsp_id;
- int dsp_path;
- void *ref_buf;
- int buf_size;
- }cb_context_t;
- typedef struct cb_args{
- char lib_name[8];
- char setting[16];
- uint32_t frame_id;
- uint64_t timestap;
- uint32_t temp_projector; //投射器温度
- uint32_t temp_sensor; //sensor 温度
- }cb_args_t;
- cb_context_t cb_context[2];
- void dsp_algo_result_cb(void*context,void*arg)
- {
- cb_context_t *ctx = (cb_context_t *)context;
- cb_args_t *cb_args= (cb_args_t*)arg;
- char update_setting[16];
- struct timeval times_value;
- uint32_t frame_id = cb_args->frame_id;
- uint64_t frame_timestap = cb_args->timestap;
- times_value.tv_sec = cb_args->timestap/1000000;
- times_value.tv_usec = cb_args->timestap%1000000;
- LOG_O("cb:%d,%s,setting:%s,frame :%d,timestad:(%ld s,%ld us)\n",ctx->id,cb_args->lib_name,cb_args->setting,
- frame_id,times_value.tv_sec,times_value.tv_usec);
- LOG_O("temperate projector:%d,sensor:%d\n",cb_args->temp_projector,cb_args->temp_sensor);
- // if(test_flag!=0)
- {
- sprintf(update_setting, "update_%d", frame_id);
- csi_camera_update_dsp_algo_setting(ctx->cam_handle,ctx->dsp_id,ctx->dsp_path,update_setting);
- if(frame_id%20==0)
- {
- void *replace_buf;
- *((uint32_t*)ctx->ref_buf) = frame_id;
- csi_camera_update_dsp_algo_buf(ctx->cam_handle, ctx->dsp_id,ctx->dsp_path,ctx->ref_buf,&replace_buf);
- LOG_D("cb:%d,old buffer:0x%llx,new buffer:0x%llx\n",ctx->id,ctx->ref_buf,replace_buf);
- ctx->ref_buf = replace_buf;
- }
- }
- }
- static void *camera_event_thread(void *arg)
- {
- int ret = 0;
- if (arg == NULL) {
- LOG_E("NULL Ptr\n");
- pthread_exit(0);
- }
- camera_ctx_t* ctx = (camera_ctx_t*)arg;
- csi_cam_event_handle_t ev_handle = ctx->event_handle;
- csi_camera_channel_cfg_s *ch_cfg=NULL;
- struct timeval init_time, cur_time;
- memset(&init_time, 0, sizeof(init_time));
- memset(&cur_time, 0, sizeof(cur_time));
- frame_fps_t demo_fps;
- memset(&demo_fps, 0, sizeof(demo_fps));
- csi_frame_s frame;
- if (ev_handle == NULL) {
- LOG_E("fail to get ev_handle ev_handle\n");
- pthread_exit(0);
- }
- int timeout = -1; // unit: ms, -1 means wait forever, or until error occurs
- int loop_count = 0;
- struct csi_camera_event event;
- LOG_O("Theard is runing............\n");
- while (ctx->exit==0) {
- int timeout = -1; // unit: ms, -1 means wait forever, or until error occurs
- csi_camera_get_event(ev_handle, &event, timeout);
- LOG_D("Camera_%d event.type = %d, event.id = %d\n",ctx->cam_id ,event.type, event.id);
- switch (event.type) {
- case CSI_CAMERA_EVENT_TYPE_CAMERA:
- switch (event.id) {
- case CSI_CAMERA_EVENT_ERROR:
- // do sth.
- LOG_E("get CAMERA EVENT CSI_CAMERA_EVENT_ERROR!\n");
- break;
- case CSI_CAMERA_EVENT_WARNING:
- LOG_W("get CAMERA EVENT CSI_CAMERA_EVENT_WRN,RC: %s\n",event.bin);
- break;
- default:
- break;
- }
- break;
- case CSI_CAMERA_EVENT_TYPE_CHANNEL0:
- case CSI_CAMERA_EVENT_TYPE_CHANNEL1:
- case CSI_CAMERA_EVENT_TYPE_CHANNEL2:
- case CSI_CAMERA_EVENT_TYPE_CHANNEL3:
- switch (event.id) {
- case CSI_CAMERA_CHANNEL_EVENT_FRAME_READY: {
- int chn_id = 0;
- ret = camera_get_chl_id(event.type, &chn_id);
- if (ret) {
- LOG_E("fail to get chl_id = %d\n", chn_id);
- continue;
- }
- ch_cfg = &ctx->chn_cfg[chn_id];
- get_system_time(__func__, __LINE__);
- int read_frame_count = csi_camera_get_frame_count(ctx->cam_handle,
- chn_id);
- unsigned long diff;
- if (init_time.tv_usec == 0)
- gettimeofday(&init_time,0);//osGetTick();
- gettimeofday(&cur_time, 0);
- diff = 1000000 * (cur_time.tv_sec-init_time.tv_sec)+ cur_time.tv_usec-init_time.tv_usec;
- demo_fps.frameNumber++;
- if (diff != 0)
- demo_fps.fps = (float)demo_fps.frameNumber / diff * 1000000.0f;
- LOG_O("cam:%d,channle:%d ,read_frame_count = %d, frame_count = %ld, fps = %.2f diff = %ld\n", ctx->cam_id, chn_id, read_frame_count, demo_fps.frameNumber, demo_fps.fps, diff);
- for (int i = 0; i < read_frame_count; i++) {
- csi_camera_get_frame(ctx->cam_handle, chn_id, &frame, timeout);
- dump_camera_meta(&frame);
- if (ctx->frame_mode[chn_id] == FRAME_SAVE_IMG) {
- dump_camera_frame(&frame, ch_cfg->img_fmt.pix_fmt, chn_id);
- }
- if (ctx->disaply_plink && ctx->frame_mode[chn_id]==FRAME_SAVE_DISPLAY) {
- frame.img.pix_format = ch_cfg->img_fmt.pix_fmt;
- display_camera_frame(ctx->disaply_plink, &frame);
- }
- csi_camera_put_frame(&frame);
- ctx->frame_num++;
- }
- break;
- }
- default:
- break;
- }
- break;
- default:
- break;
- }
- }
- LOG_O("exit!\n");
- pthread_exit(0);
- }
- static void camera_start_all(camera_ctx_t * ctx)
- {
- camera_ctx_t * cam_ctx = ctx;
- int loop_ch;
- for(loop_ch=0;loop_ch<cam_ctx->channel_num;loop_ch++)
- {
- csi_camera_channel_start(cam_ctx->cam_handle, cam_ctx->chn_cfg[loop_ch].chn_id);
- }
- }
- static void camera_stop_all(camera_ctx_t * ctx)
- {
- camera_ctx_t * cam_ctx = ctx;
- int loop_ch;
- for(loop_ch=0;loop_ch<cam_ctx->channel_num;loop_ch++)
- {
- csi_camera_channel_stop(cam_ctx->cam_handle, cam_ctx->chn_cfg[loop_ch].chn_id);
- }
- }
- static camera_ctx_t * camera_open(camera_param_t *params)
- {
- int ret = 0;
- char dev_name[128];
- camera_ctx_t * cam_ctx = NULL;
- int loop_ch;
- LOG_O("Open Camera %d\n",params->video_id);
- if(params==NULL || params->video_id <0)
- {
- LOG_E("param err\n");
- return NULL;
- }
- if(params->channel_num> MAX_CHANNEL_NUM)
- {
- LOG_E("unsupoort channle num:%d \n",params->channel_num);
- return NULL;
- }
- if(params->mode >=FRAME_INVALID)
- {
- LOG_E("unsupoort frame process mode:%d \n",params->mode);
- return NULL;
- }
- cam_ctx = malloc(sizeof(camera_ctx_t));
- if(!cam_ctx)
- {
- return NULL;
- }
- memset(cam_ctx,0x0,sizeof(camera_ctx_t));
-
- // 打开Camera设备获取句柄,作为后续操对象
- sprintf(dev_name, "/dev/video%d", params->video_id);
- if(csi_camera_open(&cam_ctx->cam_handle, dev_name))
- {
- LOG_E("Fail to open cam :%s\n",dev_name);
- goto ONE_ERR;
- }
- for(loop_ch= CSI_CAMERA_CHANNEL_0;loop_ch<params->channel_num;loop_ch++)
- {
- cam_ctx->chn_cfg[loop_ch].chn_id = loop_ch;
- cam_ctx->chn_cfg[loop_ch].img_fmt.pix_fmt = params->out_pic[loop_ch].fmt;
- cam_ctx->chn_cfg[loop_ch].img_fmt.width= params->out_pic[loop_ch].width;
- cam_ctx->chn_cfg[loop_ch].img_fmt.height = params->out_pic[loop_ch].height;
- cam_ctx->chn_cfg[loop_ch].img_type = CSI_IMG_TYPE_DMA_BUF;
- cam_ctx->chn_cfg[loop_ch].meta_fields = CSI_CAMERA_META_DEFAULT_FIELDS;
- if(csi_camera_channel_open(cam_ctx->cam_handle,&cam_ctx->chn_cfg[loop_ch]))
- {
- LOG_E("Fail to open cam %s,channel :%d\n",dev_name,loop_ch);
- goto TWO_ERR;
- }
- if(params->mode == FRAME_SAVE_DISPLAY)
- {
- cam_ctx->disaply_plink[loop_ch] = vi_plink_create(&cam_ctx->chn_cfg[loop_ch]);
- if(!cam_ctx->disaply_plink[loop_ch]&& loop_ch== CSI_CAMERA_CHANNEL_0) //temp only channel to display
- {
- LOG_E("Fail to create plink for cam %s,channel :%d\n",dev_name,loop_ch);
- goto TWO_ERR;
- }
- }
- cam_ctx->frame_mode[loop_ch]=params->mode;
- cam_ctx->channel_num++;
- }
- if(csi_camera_create_event(&cam_ctx->event_handle,cam_ctx->cam_handle))
- {
- LOG_E("Fail to create event handler for cam %s\n",dev_name);
- goto TWO_ERR;
- }
- cam_ctx->event_subscribe.type = CSI_CAMERA_EVENT_TYPE_CAMERA;
- cam_ctx->event_subscribe.id = CSI_CAMERA_EVENT_WARNING | CSI_CAMERA_EVENT_ERROR;
- if(csi_camera_subscribe_event(cam_ctx->event_handle,&cam_ctx->event_subscribe))
- {
- LOG_E("Fail to subscribe eventfor cam %s\n",dev_name);
- goto TWO_ERR;
- }
- for(loop_ch=0;loop_ch<cam_ctx->channel_num;loop_ch++)
- {
- cam_ctx->event_subscribe.type = CSI_CAMERA_EVENT_TYPE_CHANNEL0+loop_ch;
- cam_ctx->event_subscribe.id = CSI_CAMERA_CHANNEL_EVENT_FRAME_READY;
- if(csi_camera_subscribe_event(cam_ctx->event_handle,&cam_ctx->event_subscribe))
- {
- LOG_E("Fail to subscribe eventfor cam %s\n",dev_name);
- goto TWO_ERR;
- }
- }
- LOG_O("%s open successfully\n",dev_name);
- ret = pthread_create(&cam_ctx->cam_thread, NULL,
- (void *)camera_event_thread, cam_ctx);
- if (ret != 0) {
- LOG_E("pthread_create() failed, ret=%d", ret);
- goto TWO_ERR;
- }
- if(params->type == CAM_TYEP_IR)
- {
- cb_context[0].id=0;
- cb_context[0].cam_handle = cam_ctx->cam_handle;
- cb_context[0].dsp_id = 1;
- cb_context[0].dsp_path = 3;
- char test_set[16]="init";
- cb_context[0].buf_size = 1920*1080;
- cb_context[0].ref_buf=NULL;
- csi_camera_dsp_algo_param_t algo_param_1={
- .algo_name = "dsp1_dummy_algo_flo_1",
- .algo_cb.cb = dsp_algo_result_cb,
- .algo_cb.context = &cb_context[0],
- .algo_cb.arg_size = sizeof(cb_args_t),
- .sett_ptr = test_set,
- .sett_size =sizeof(test_set),
- .extra_buf_num =1,
- .extra_buf_sizes = &cb_context[0].buf_size,
- .extra_bufs = &cb_context[0].ref_buf,
- };
-
- if(csi_camera_set_dsp_algo_param(cam_ctx->cam_handle, cb_context[0].dsp_id,cb_context[0].dsp_path, &algo_param_1))
- {
- LOG_E("set DSP algo fail\n");
- goto TWO_ERR;
- }
- cb_context[1].id=1;
- cb_context[1].cam_handle = cam_ctx->cam_handle;
- cb_context[1].dsp_id = 1;
- cb_context[1].dsp_path = 4;
- cb_context[1].buf_size = 1920*1080;
- cb_context[1].ref_buf=NULL;
- csi_camera_dsp_algo_param_t algo_param_2={
- .algo_name = "dsp1_dummy_algo_flo",
- .algo_cb.cb = dsp_algo_result_cb,
- .algo_cb.context = &cb_context[1],
- .algo_cb.arg_size = sizeof(cb_args_t),
- .sett_ptr = test_set,
- .sett_size =sizeof(test_set),
- .extra_buf_num =1,
- .extra_buf_sizes = &cb_context[1].buf_size,
- .extra_bufs = &cb_context[1].ref_buf,
- };
-
- if(csi_camera_set_dsp_algo_param(cam_ctx->cam_handle, cb_context[1].dsp_id,cb_context[1].dsp_path, &algo_param_2))
- {
- LOG_E("set DSP algo fail\n");
- goto TWO_ERR;
- }
- csi_camera_floodlight_led_set_flash_bright(cam_ctx->cam_handle, 500); //500ma
- csi_camera_projection_led_set_flash_bright(cam_ctx->cam_handle, 500); //500ma
- csi_camera_projection_led_set_mode(cam_ctx->cam_handle, LED_IR_ENABLE);
- csi_camera_floodlight_led_set_mode(cam_ctx->cam_handle, LED_IR_ENABLE);
- csi_camera_led_enable(cam_ctx->cam_handle, LED_FLOODLIGHT_PROJECTION);
- }
- // for(loop_ch=0;loop_ch<cam_ctx->channel_num;loop_ch++)
- // {
- // csi_camera_channel_start(cam_ctx->cam_handle, cam_ctx->chn_cfg[loop_ch].chn_id);
- // }
- get_system_time(__func__, __LINE__);
- return cam_ctx;
- TWO_ERR:
- for(loop_ch=0;loop_ch<cam_ctx->channel_num;loop_ch++)
- {
- csi_camera_channel_close(cam_ctx->cam_handle, cam_ctx->chn_cfg[loop_ch].chn_id);
- }
- csi_camera_close(cam_ctx->cam_handle);
- ONE_ERR:
- free(cam_ctx);
- return NULL;
- }
- static void camera_close(camera_ctx_t *ctx)
- {
- int loop_ch;
- if(ctx->cam_handle==NULL)
- {
- return;
- }
- if (pthread_join(ctx->cam_thread, NULL)) {
- LOG_E("pthread_join() failed\n");
- }
- csi_camera_unsubscribe_event(ctx->event_handle, &ctx->event_subscribe);
- csi_camera_destory_event(ctx->event_handle);
- // int loop_ch;
- // for(loop_ch=0;loop_ch<ctx->channel_num;loop_ch++)
- // {
- // csi_camera_channel_stop(cam_ctx->cam_handle, cam_ctx->chn_cfg[loop_ch].chn_id);
- // }
- for(loop_ch=0;loop_ch<ctx->channel_num;loop_ch++)
- {
- csi_camera_channel_close(ctx->cam_handle, ctx->chn_cfg[loop_ch].chn_id);
- }
- csi_camera_close(ctx->cam_handle);
- free(ctx);
- }
- int main(int argc, char *argv[])
- {
- char dev_name[128];
- int camera_id = 0;
- // 打印HAL接口版本号
- csi_api_version_u version;
- csi_camera_get_version(&version);
- camera_param_t params[MAX_CAM_NUM];
- camera_ctx_t * ctx[MAX_CAM_NUM]={NULL,NULL,NULL};
- int cam_num=0;
- bool running = false;
- cam_num =parseParams(argc,argv,params);
- if(cam_num <=0 || cam_num>MAX_CAM_NUM)
- {
- LOG_E("not camera is active\n");
- exit(0);
- }
- for(int i =0;i<cam_num;i++)
- {
- switch(params[i].type)
- {
- case CAM_TYEP_RGB:
- ctx[i]=camera_open(¶ms[i]);
- break;
- case CAM_TYEP_IR:
- ctx[i]=camera_open(¶ms[i]);
- break;
- default:
- LOG_E("unspuoort camera :%d\n",i);
- continue;
- }
- if(ctx[i]==NULL)
- {
- LOG_E("camera_%d open %d fail\n",i,params[i].type);
- goto ONR_ERR;
- }
- ctx[i]->cam_id = i;
- ctx[i]->frame_num =0;
- ctx[i]->exit = 0;
- camera_start_all(ctx[i]);
- running = true;
- }
- int all_exit;
- do{
- sleep(1);
- all_exit = 1;
- for(int i =0;i<cam_num;i++)
- {
- if(ctx[i]&&
- ctx[i]->exit==0 &&
- params[i].frames_to_stop>0 &&
- ctx[i]->frame_num >=params[i].frames_to_stop)
- {
- camera_stop_all(ctx[i]);
- ctx[i]->exit=1;
- }
- if(ctx[i])
- all_exit &= ctx[i]->exit;
- }
- if(all_exit ==1)
- {
- LOG_O("all_exit\n");
- running = false;
- }
- }while(running);
-
- ONR_ERR:
- for(int i =0;i<cam_num;i++)
- {
- if(ctx[i])
- camera_close(ctx[i]);
- }
- exit(0);
- }
- static void dump_camera_meta(csi_frame_s *frame)
- {
- int i;
- //printf("%s\n", __func__);
- if (frame->meta.type != CSI_META_TYPE_CAMERA)
- return;
- csi_camera_meta_s *meta_data = (csi_camera_meta_s *)frame->meta.data;
- int meta_count = meta_data->count;
- csi_camrea_meta_unit_s meta_unit;
- csi_camera_frame_get_meta_unit(
- &meta_unit, meta_data, CSI_CAMERA_META_ID_FRAME_ID);
- LOG_I("meta_id=%d, meta_type=%d, meta_value=%d\n",
- meta_unit.id, meta_unit.type, meta_unit.int_value);
- }
- static void dump_camera_frame(csi_frame_s *frame, csi_pixel_fmt_e fmt, int chan_id)
- {
- char file[128];
- static int file_indx=0;
- int size;
- uint32_t indexd, j;
- void *buf[3];
- int buf_size;
- csi_camera_meta_s *meta_data = (csi_camera_meta_s *)frame->meta.data;
- csi_camrea_meta_unit_s meta_unit;
- csi_camera_frame_get_meta_unit(
- &meta_unit, meta_data, CSI_CAMERA_META_ID_CAMERA_NAME);
-
- sprintf(file,"demo_save_img%s_%d_%d",meta_unit.str_value,chan_id, file_indx++%10);
- int fd = open(file, O_RDWR | O_CREAT | O_TRUNC, S_IRUSR | S_IWUSR | S_IROTH);
- if(fd == -1) {
- LOG_E("%s, %d, open file error!!!!!!!!!!!!!!!\n", __func__, __LINE__);
- return ;
- }
- if (frame->img.type == CSI_IMG_TYPE_DMA_BUF) {
- buf_size = frame->img.strides[0]*frame->img.height;
- switch(fmt) {
- case CSI_PIX_FMT_NV12:
- case CSI_PIX_FMT_YUV_SEMIPLANAR_420:
- if(frame->img.num_planes ==2)
- {
- buf_size+=frame->img.strides[1]*frame->img.height/2;
- }
- else{
- LOG_O("img fomrat is not match with frame planes:%d\n",frame->img.num_planes);
- return;
- }
- break;
- case CSI_PIX_FMT_YUV_SEMIPLANAR_422:
- if(frame->img.num_planes ==2)
- {
- buf_size+=frame->img.strides[1]*frame->img.height;
- }
- else{
- LOG_O("img fomrat is not match with frame planes:%d\n",frame->img.num_planes);
- return;
- }
- break;
- default:
- break;
-
- }
- buf[0]= mmap(0, buf_size, PROT_READ | PROT_WRITE,
- MAP_SHARED, frame->img.dmabuf[0].fds, frame->img.dmabuf[0].offset);
- // plane_size[1] = frame->img.strides[1]*frame->img.height;
- // printf("frame plane 1 stride:%d,offset:%d\n", frame->img.strides[1],(uint32_t)frame->img.dmabuf[1].offset);
- if(frame->img.num_planes ==2)
- {
- // buf[1] = mmap(0, plane_size[1]/2, PROT_READ | PROT_WRITE,
- // MAP_SHARED, frame->img.dmabuf[1].fds, frame->img.dmabuf[1].offset);
- buf[1] = buf[0]+frame->img.dmabuf[1].offset;
- }
- }
- else{
- buf[0] = frame->img.usr_addr[0];
- buf[1] = frame->img.usr_addr[1];
- }
- LOG_O("%s,save img from : (%lx,%lx)size:%d to %s, fmt:%d width:%d stride:%d height:%d\n",__FUNCTION__, (uint64_t)buf[0],(uint64_t)buf[1],size, file, fmt, frame->img.width, frame->img.strides[0], frame->img.height);
- if (frame->img.strides[0] == 0) {
- frame->img.strides[0] = frame->img.width;
- }
- switch(fmt) {
- case CSI_PIX_FMT_NV12:
- case CSI_PIX_FMT_YUV_SEMIPLANAR_420:
- for (j = 0; j < frame->img.height; j++) { //Y
- indexd = j*frame->img.strides[0];
- write(fd, buf[0] + indexd, frame->img.width);
- }
- for (j = 0; j < frame->img.height / 2; j++) { //UV
- indexd = j*frame->img.strides[0];
- write(fd, buf[1] + indexd, frame->img.width);
- }
- break;
- case CSI_PIX_FMT_RGB_INTEVLEAVED_888:
- case CSI_PIX_FMT_YUV_TEVLEAVED_444:
- size = frame->img.width*3;
- for (j = 0; j < frame->img.height; j++) {
- indexd = j*frame->img.strides[0];
- write(fd, buf[0] + indexd, size);
- }
- break;
- case CSI_PIX_FMT_BGR:
- case CSI_PIX_FMT_RGB_PLANAR_888:
- case CSI_PIX_FMT_YUV_PLANAR_444:
- size = frame->img.width * frame->img.height * 3;
- write(fd, buf[0], size);
- break;
- case CSI_PIX_FMT_RAW_8BIT:
- size = frame->img.width;
- for (j = 0; j < frame->img.height; j++) {
- indexd = j*frame->img.strides[0];
- write(fd, buf[0] + indexd, size);
- }
- break;
- case CSI_PIX_FMT_YUV_TEVLEAVED_422:
- case CSI_PIX_FMT_RAW_10BIT:
- case CSI_PIX_FMT_RAW_12BIT:
- case CSI_PIX_FMT_RAW_14BIT:
- case CSI_PIX_FMT_RAW_16BIT:
- size = frame->img.width*2;
- for (j = 0; j < frame->img.height; j++) {
- indexd = j*frame->img.strides[0];
- write(fd, buf[0] + indexd, size);
- }
- break;
- case CSI_PIX_FMT_YUV_SEMIPLANAR_422:
- if (frame->img.strides[0] == 0) {
- frame->img.strides[0] = frame->img.width;
- }
- for (j = 0; j < frame->img.height; j++) { //Y
- indexd = j*frame->img.strides[0];
- write(fd,buf[0] + indexd, frame->img.width);
- }
- for (j = 0; j < frame->img.height; j++) { //UV
- indexd = j*frame->img.strides[0];
- write(fd, buf[1]+ indexd, frame->img.width);
- }
- break;
- default:
- LOG_E("%s unsupported format to save\n", __func__);
- exit(-1);
- break;
- }
- close(fd);
- munmap(buf[0],buf_size);
- // munmap(buf[1],plane_size[1]);
- LOG_O("%s exit\n", __func__);
- }
|