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mmalcam.c
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mmalcam.c
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/*
* mmalcam.c
*
* Raspberry Pi camera module using MMAL API.
*
* Built upon functionality from the Raspberry Pi userland utility raspivid.
*
* Copyright 2013 by Nicholas Tuckett
* This software is distributed under the GNU public license version 2
* See also the file 'COPYING'.
*
*/
#include "bcm_host.h"
#include "interface/vcos/vcos.h"
#include "interface/mmal/mmal.h"
#include "interface/mmal/mmal_buffer.h"
#include "interface/mmal/mmal_port.h"
#include "interface/mmal/util/mmal_util.h"
#include "interface/mmal/util/mmal_util_params.h"
#include "interface/mmal/util/mmal_default_components.h"
#include "interface/mmal/util/mmal_connection.h"
#include "raspicam/RaspiCamControl.h"
#include "motion.h"
#include "rotate.h"
#include "utils.h"
#define MMALCAM_OK 0
#define MMALCAM_ERROR -1
#define MMAL_CAMERA_PREVIEW_PORT 0
#define MMAL_CAMERA_VIDEO_PORT 1
#define MMAL_CAMERA_STILLS_PORT 2
#define VIDEO_FRAME_RATE_NUM 30
#define VIDEO_FRAME_RATE_DEN 1
#define VIDEO_OUTPUT_BUFFERS_NUM 3
#define STILL_PREVIEW_WIDTH 320
#define STILL_PREVIEW_HEIGHT 240
#define STILL_FRAME_RATE_NUM 15
#define STILL_FRAME_RATE_DEN 1
#define STILL_FIRST_FRAME_DELAY_MS 2500
#define PREVIEW_FRAME_RATE_NUM 30
#define PREVIEW_FRAME_RATE_DEN 1
enum
{
CAPTURE_MODE_VIDEO = 1,
CAPTURE_MODE_STILL = 2,
};
static void parse_camera_control_params(const char *control_params_str, RASPICAM_CAMERA_PARAMETERS *camera_params)
{
char *control_params_tok = alloca(strlen(control_params_str) + 1);
strcpy(control_params_tok, control_params_str);
char *next_param = strtok(control_params_tok, " ");
while (next_param != NULL) {
char *param_val = strtok(NULL, " ");
if (raspicamcontrol_parse_cmdline(camera_params, next_param + 1, param_val) < 2) {
next_param = param_val;
} else {
next_param = strtok(NULL, " ");
}
}
}
static void check_disable_port(MMAL_PORT_T *port)
{
if (port && port->is_enabled) {
mmal_port_disable(port);
}
}
static void camera_control_callback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer)
{
if (buffer->cmd != MMAL_EVENT_PARAMETER_CHANGED) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "Received unexpected camera control callback event, 0x%08x",
buffer->cmd);
}
mmal_buffer_header_release(buffer);
}
static void set_port_format(int width, int height, MMAL_ES_FORMAT_T *format)
{
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = width;
format->es->video.height = height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = width;
format->es->video.crop.height = height;
}
static void set_video_port_format(mmalcam_context_ptr mmalcam, MMAL_ES_FORMAT_T *format)
{
set_port_format(mmalcam->width, mmalcam->height, format);
format->es->video.frame_rate.num = mmalcam->framerate;
format->es->video.frame_rate.den = VIDEO_FRAME_RATE_DEN;
}
static MMAL_STATUS_T connect_ports(MMAL_PORT_T *source_port, MMAL_PORT_T *sink_port, MMAL_CONNECTION_T **connection)
{
MMAL_STATUS_T status;
status = mmal_connection_create(connection, source_port, sink_port, MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if (status == MMAL_SUCCESS) {
status = mmal_connection_enable(*connection);
if (status != MMAL_SUCCESS) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "%s: Unable to enable connection: error %d", status);
mmal_connection_destroy(*connection);
}
}
else {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "%s: Unable to create connection: error %d", status);
}
return status;
}
static int create_splitter_component(mmalcam_context_ptr mmalcam, MMAL_PORT_T *source_port)
{
MMAL_STATUS_T status;
MMAL_COMPONENT_T *splitter_component;
MMAL_PORT_T *input_port;
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_SPLITTER, &splitter_component);
if (status != MMAL_SUCCESS) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "%s: Failed to create splitter component");
goto error;
}
input_port = splitter_component->input[0];
mmal_format_copy(input_port->format, source_port->format);
input_port->buffer_num = 3;
status = mmal_port_format_commit(input_port);
if (status != MMAL_SUCCESS)
{
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "%s:Couldn't set splitter input port format : error %d", status);
goto error;
}
for(int i = 0; i < splitter_component->output_num; i++)
{
MMAL_PORT_T *output_port = splitter_component->output[i];
output_port->buffer_num = 3;
mmal_format_copy(output_port->format,input_port->format);
status = mmal_port_format_commit(output_port);
if (status != MMAL_SUCCESS)
{
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "%s:Couldn't set splitter output port format : error %d", status);
goto error;
}
}
mmalcam->splitter_component = splitter_component;
return MMALCAM_OK;
error:
if (splitter_component) {
mmal_component_destroy(splitter_component);
}
return MMALCAM_ERROR;
}
static int create_resize_component(mmalcam_context_ptr mmalcam, MMAL_PORT_T *source_port, int width, int height)
{
MMAL_STATUS_T status;
MMAL_COMPONENT_T *resize_component;
MMAL_PORT_T *input_port;
status = mmal_component_create("vc.ril.resize", &resize_component);
if (status != MMAL_SUCCESS) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "%s: Failed to create resize component");
goto error;
}
input_port = resize_component->input[0];
mmal_format_copy(input_port->format, source_port->format);
input_port->buffer_num = 3;
status = mmal_port_format_commit(input_port);
if (status != MMAL_SUCCESS)
{
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "%s:Couldn't set resize input port format : error %d", status);
goto error;
}
MMAL_PORT_T *output_port = resize_component->output[0];
output_port->buffer_num = 3;
mmal_format_copy(output_port->format,input_port->format);
output_port->format->es->video.width = width;
output_port->format->es->video.height = height;
output_port->format->es->video.crop.x = 0;
output_port->format->es->video.crop.y = 0;
output_port->format->es->video.crop.width = width;
output_port->format->es->video.crop.height = height;
status = mmal_port_format_commit(output_port);
if (status != MMAL_SUCCESS)
{
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "%s:Couldn't set resize output port format : error %d", status);
goto error;
}
mmalcam->resize_component = resize_component;
return MMALCAM_OK;
error:
if (resize_component) {
mmal_component_destroy(resize_component);
}
return MMALCAM_ERROR;
}
static int create_jpeg_component(mmalcam_context_ptr mmalcam)
{
MMAL_STATUS_T status;
MMAL_COMPONENT_T *jpeg_component;
MMAL_PORT_T *input_port;
MMAL_PORT_T *output_port;
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_IMAGE_ENCODER, &jpeg_component);
if (status != MMAL_SUCCESS) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "%s: Failed to create jpeg component");
goto error;
}
input_port = jpeg_component->input[0];
output_port = jpeg_component->output[0];
mmal_format_copy(output_port->format, input_port->format);
output_port->format->encoding = MMAL_ENCODING_JPEG;
output_port->buffer_size = output_port->buffer_size_recommended;
output_port->buffer_num = output_port->buffer_num_recommended;
if (output_port->buffer_size < output_port->buffer_size_min)
{
output_port->buffer_size = output_port->buffer_size_min;
}
if (output_port->buffer_num < output_port->buffer_num_min)
{
output_port->buffer_num = output_port->buffer_num_min;
}
status = mmal_port_format_commit(output_port);
if (status != MMAL_SUCCESS)
{
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "%s:Couldn't set jpeg output port format : error %d", status);
goto error;
}
status = mmal_port_parameter_set_uint32(output_port, MMAL_PARAMETER_JPEG_Q_FACTOR, mmalcam->cnt->conf.mmalcam_buffer2_jpeg);
if (status != MMAL_SUCCESS)
{
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "%s:Couldn't set jpeg quality : error %d", status);
goto error;
}
mmalcam->jpeg_component = jpeg_component;
return MMALCAM_OK;
error:
if (jpeg_component) {
mmal_component_destroy(jpeg_component);
}
return MMALCAM_ERROR;
}
static void destroy_components(mmalcam_context_ptr mmalcam);
static int create_camera_component(mmalcam_context_ptr mmalcam, const char *mmalcam_name, int capture_mode)
{
MMAL_STATUS_T status;
MMAL_COMPONENT_T *camera_component;
MMAL_PORT_T *capture_port = NULL;
status = mmal_component_create(mmalcam_name, &camera_component);
if (status != MMAL_SUCCESS) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "Failed to create MMAL camera component %s", mmalcam_name);
goto error;
}
if (camera_component->output_num == 0) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "MMAL camera %s doesn't have output ports", mmalcam_name);
goto error;
}
status = mmal_port_enable(camera_component->control, camera_control_callback);
if (status) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "Unable to enable control port : error %d", status);
goto error;
}
// set up the camera configuration
MMAL_PARAMETER_CAMERA_CONFIG_T cam_config = {
{ MMAL_PARAMETER_CAMERA_CONFIG, sizeof(cam_config) },
.max_stills_w = mmalcam->width,
.max_stills_h = mmalcam->height,
.stills_yuv422 = 0,
.one_shot_stills = capture_mode == CAPTURE_MODE_STILL ? 1 : 0,
.max_preview_video_w = mmalcam->width, // these must match the chosen resolution otherwise
.max_preview_video_h = mmalcam->height, // video capture does not work
.num_preview_video_frames = 3,
.stills_capture_circular_buffer_height = 0,
.fast_preview_resume = 0,
.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC };
mmal_port_parameter_set(camera_component->control, &cam_config.hdr);
raspicamcontrol_set_all_parameters(camera_component, mmalcam->camera_parameters);
MMAL_PORT_T *preview_port = camera_component->output[MMAL_CAMERA_PREVIEW_PORT];
switch(capture_mode)
{
case CAPTURE_MODE_VIDEO:
{
set_video_port_format(mmalcam, preview_port->format);
if (mmal_port_format_commit(preview_port)) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "camera setup couldn't configure preview");
goto error;
}
capture_port = camera_component->output[MMAL_CAMERA_VIDEO_PORT];
set_video_port_format(mmalcam, capture_port->format);
capture_port->format->encoding = MMAL_ENCODING_I420;
status = mmal_port_format_commit(capture_port);
MMAL_PORT_T *stills_port = camera_component->output[MMAL_CAMERA_STILLS_PORT];
mmal_format_full_copy(stills_port->format, preview_port->format);
stills_port->format->es->video.frame_rate.num = 1;
stills_port->format->es->video.frame_rate.den = 1;
if (mmal_port_format_commit(stills_port)) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "video camera setup couldn't configure (unused) still port");
goto error;
}
break;
}
case CAPTURE_MODE_STILL:
{
set_port_format(STILL_PREVIEW_WIDTH, STILL_PREVIEW_HEIGHT, preview_port->format);
preview_port->format->es->video.frame_rate.num = PREVIEW_FRAME_RATE_NUM;
preview_port->format->es->video.frame_rate.den = PREVIEW_FRAME_RATE_DEN;
if (mmal_port_format_commit(preview_port)) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "camera setup couldn't configure preview");
goto error;
}
capture_port = camera_component->output[MMAL_CAMERA_STILLS_PORT];
set_port_format(mmalcam->width, mmalcam->height, capture_port->format);
capture_port->format->encoding = MMAL_ENCODING_I420;
capture_port->format->es->video.frame_rate.num = STILL_FRAME_RATE_NUM;
capture_port->format->es->video.frame_rate.den = STILL_FRAME_RATE_DEN;
// Duplicate preview format onto unused video port
mmal_format_full_copy(camera_component->output[MMAL_CAMERA_VIDEO_PORT]->format, preview_port->format);
if (mmal_port_format_commit(camera_component->output[MMAL_CAMERA_VIDEO_PORT])) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "still camera setup couldn't configure (unused) video port");
goto error;
}
status = mmal_port_format_commit(capture_port);
break;
}
}
if (status) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "camera video format couldn't be set");
goto error;
}
// Ensure there are enough buffers to avoid dropping frames
if (capture_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM) {
capture_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
}
status = mmal_component_enable(camera_component);
if (status) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "camera component couldn't be enabled");
goto error;
}
// Create a null sink for preview
MMAL_COMPONENT_T *null_sink = NULL;
if (capture_mode == CAPTURE_MODE_STILL) {
status = mmal_component_create("vc.null_sink", &null_sink);
if (status) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "null sink component couldn't be created");
goto error;
}
status = mmal_component_enable(null_sink);
if (status) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "null_sink component couldn't be enabled");
goto error;
}
status = connect_ports(camera_component->output[MMAL_CAMERA_PREVIEW_PORT],
null_sink->input[0],
&mmalcam->preview_connection);
if (status) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "preview connection setup failed");
goto error;
}
}
mmalcam->camera_component = camera_component;
mmalcam->preview_component = null_sink;
mmalcam->camera_capture_port = capture_port;
MOTION_LOG(NTC, TYPE_VIDEO, NO_ERRNO, "MMAL camera component created");
return MMALCAM_OK;
error:
if (null_sink) {
mmal_component_destroy(null_sink);
}
if (camera_component) {
mmal_component_destroy(camera_component);
}
return MMALCAM_ERROR;
}
static void disable_components_and_ports(mmalcam_context_ptr mmalcam)
{
if (mmalcam->jpeg_connection) {
mmal_connection_destroy(mmalcam->jpeg_connection);
mmalcam->jpeg_connection = NULL;
}
if (mmalcam->splitter_connection) {
mmal_connection_destroy(mmalcam->splitter_connection);
mmalcam->splitter_connection = NULL;
}
if (mmalcam->resize_connection) {
mmal_connection_destroy(mmalcam->resize_connection);
mmalcam->resize_connection = NULL;
}
if (mmalcam->preview_connection) {
mmal_connection_destroy(mmalcam->preview_connection);
mmalcam->preview_connection = NULL;
}
check_disable_port(mmalcam->camera_component->output[MMAL_CAMERA_VIDEO_PORT]);
check_disable_port(mmalcam->camera_component->output[MMAL_CAMERA_STILLS_PORT]);
if (mmalcam->jpeg_component) {
mmal_component_disable(mmalcam->jpeg_component);
}
if (mmalcam->splitter_component) {
mmal_component_disable(mmalcam->splitter_component);
}
if (mmalcam->resize_component) {
mmal_component_disable(mmalcam->resize_component);
}
if (mmalcam->preview_component) {
mmal_component_disable(mmalcam->preview_component);
}
if (mmalcam->camera_component) {
mmal_component_disable(mmalcam->camera_component);
}
}
static void destroy_components(mmalcam_context_ptr mmalcam)
{
if (mmalcam->jpeg_component) {
mmal_component_destroy(mmalcam->jpeg_component);
mmalcam->jpeg_component = NULL;
}
if (mmalcam->splitter_component) {
mmal_component_destroy(mmalcam->splitter_component);
mmalcam->splitter_component = NULL;
}
if (mmalcam->resize_component) {
mmal_component_destroy(mmalcam->resize_component);
mmalcam->resize_component = NULL;
}
if (mmalcam->preview_component) {
mmal_component_destroy(mmalcam->preview_component);
mmalcam->preview_component = NULL;
}
if (mmalcam->camera_component) {
mmal_component_destroy(mmalcam->camera_component);
mmalcam->camera_component = NULL;
}
}
/**
* mmalcam_start
*
* This routine is called from the main motion thread. It's job is
* to open up the requested camera device via MMAL and do any required
* initialisation.
*
* Parameters:
*
* cnt Pointer to the motion context structure for this device.
*
* Returns: 0 on success
* -1 on any failure
*/
int mmalcam_start(struct context *cnt)
{
mmalcam_context_ptr mmalcam;
cnt->mmalcam = (mmalcam_context*) mymalloc(sizeof(struct mmalcam_context));
memset(cnt->mmalcam, 0, sizeof(mmalcam_context));
mmalcam = cnt->mmalcam;
mmalcam->cnt = cnt;
MOTION_LOG(ALR, TYPE_VIDEO, NO_ERRNO,
"%s: MMAL Camera thread starting... for camera (%s) of %d x %d at %d fps",
cnt->conf.mmalcam_name, cnt->conf.width, cnt->conf.height, cnt->conf.frame_limit);
mmalcam->camera_parameters = (RASPICAM_CAMERA_PARAMETERS*)malloc(sizeof(RASPICAM_CAMERA_PARAMETERS));
if (mmalcam->camera_parameters == NULL) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "camera params couldn't be allocated");
return MMALCAM_ERROR;
}
raspicamcontrol_set_defaults(mmalcam->camera_parameters);
mmalcam->width = cnt->conf.width;
mmalcam->height = cnt->conf.height;
mmalcam->framerate = cnt->conf.frame_limit;
if (mmalcam->width & 15) {
mmalcam->width += 16 - (mmalcam->width & 15);
}
if (mmalcam->height & 15) {
mmalcam->height += 16 - (mmalcam->height & 15);
}
if (cnt->conf.mmalcam_control_params) {
parse_camera_control_params(cnt->conf.mmalcam_control_params, mmalcam->camera_parameters);
}
int capture_mode;
if (cnt->conf.mmalcam_use_still) {
MOTION_LOG(ALR, TYPE_VIDEO, NO_ERRNO, "%s: MMAL Camera using still capture");
capture_mode = CAPTURE_MODE_STILL;
if (cnt->conf.minimum_frame_time > 0) {
mmalcam->still_capture_delay_ms = cnt->conf.minimum_frame_time * 1000;
}
else {
mmalcam->still_capture_delay_ms = 1000 / cnt->conf.frame_limit;
}
}
else {
MOTION_LOG(ALR, TYPE_VIDEO, NO_ERRNO, "%s: MMAL Camera using video capture");
capture_mode = CAPTURE_MODE_VIDEO;
}
cnt->imgs.width = mmalcam->width;
cnt->imgs.height = mmalcam->height;
cnt->imgs.size = (mmalcam->width * mmalcam->height * 3) / 2;
cnt->imgs.motionsize = mmalcam->width * mmalcam->height;
cnt->imgs.type = VIDEO_PALETTE_YUV420P;
if (cnt->conf.mmalcam_buffer2_upscale > 0) {
cnt->imgs.secondary_type = SECONDARY_TYPE_RAW;
cnt->imgs.secondary_width = mmalcam->width * cnt->conf.mmalcam_buffer2_upscale;
cnt->imgs.secondary_height = mmalcam->height * cnt->conf.mmalcam_buffer2_upscale;
cnt->imgs.secondary_size = (cnt->imgs.secondary_width * cnt->imgs.secondary_height * 3) / 2;
mmalcam->width *= cnt->conf.mmalcam_buffer2_upscale;
mmalcam->height *= cnt->conf.mmalcam_buffer2_upscale;
}
int retval = create_camera_component(mmalcam, cnt->conf.mmalcam_name, capture_mode);
if (cnt->imgs.secondary_size)
{
if (retval == 0) {
retval = create_splitter_component(mmalcam, mmalcam->camera_capture_port);
if (retval == 0) {
retval = connect_ports(mmalcam->camera_capture_port, mmalcam->splitter_component->input[0], &mmalcam->splitter_connection);
}
}
if (retval == 0) {
retval = create_resize_component(mmalcam, mmalcam->splitter_component->output[1], cnt->imgs.width, cnt->imgs.height);
if (retval == 0) {
retval = connect_ports(mmalcam->splitter_component->output[1], mmalcam->resize_component->input[0], &mmalcam->resize_connection);
}
}
if (retval == 0) {
retval = mmal_output_init("mmalcam", &mmalcam->camera_output, mmalcam->resize_component->output[0], 0);
}
if (retval == 0) {
if (cnt->conf.mmalcam_buffer2_jpeg > 0) {
retval = create_jpeg_component(mmalcam);
if (retval == 0) {
retval = connect_ports(mmalcam->splitter_component->output[0], mmalcam->jpeg_component->input[0], &mmalcam->jpeg_connection);
if (retval == 0) {
retval = mmal_output_init("secondary", &mmalcam->secondary_output, mmalcam->jpeg_component->output[0], MMAL_OUTPUT_INCREMENTAL);
if (retval == 0) {
cnt->imgs.secondary_type = SECONDARY_TYPE_JPEG;
}
}
}
}
else {
retval = mmal_output_init("secondary", &mmalcam->secondary_output, mmalcam->splitter_component->output[0], 0);
}
}
if (retval == 0) {
if (mmal_output_enable(&mmalcam->secondary_output)) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "MMAL resize output enabling failed");
retval = MMALCAM_ERROR;
}
}
}
else {
if (retval == 0) {
retval = mmal_output_init("mmalcam", &mmalcam->camera_output, mmalcam->camera_capture_port, 0);
}
}
if (retval == 0) {
if (mmal_output_enable(&mmalcam->camera_output)) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "MMAL camera output enabling failed");
retval = MMALCAM_ERROR;
}
}
if (retval == 0) {
if (mmal_port_parameter_set_boolean(mmalcam->camera_capture_port, MMAL_PARAMETER_CAPTURE, 1)
!= MMAL_SUCCESS) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "MMAL camera capture start failed");
retval = MMALCAM_ERROR;
}
if (capture_mode == CAPTURE_MODE_STILL) {
// Allow exposure to stabilise for first frame
vcos_sleep(STILL_FIRST_FRAME_DELAY_MS);
}
mmalcam->last_still_capture_time_ms = get_elapsed_time_ms();
}
if (retval == 0) {
retval = mmal_output_send_buffers_to_port(&mmalcam->camera_output);
}
if (retval == 0 && cnt->imgs.secondary_size) {
retval = mmal_output_send_buffers_to_port(&mmalcam->secondary_output);
}
if (retval == 0) {
if (mmalcam->cnt->conf.mmalcam_raw_capture_file) {
mmalcam->raw_capture_file = fopen(mmalcam->cnt->conf.mmalcam_raw_capture_file, "wb");
if (mmalcam->raw_capture_file == NULL) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "%s: MMAL couldn't open raw capture file %s", mmalcam->cnt->conf.mmalcam_raw_capture_file);
}
}
}
return retval;
}
/**
* mmalcam_cleanup
*
* This routine shuts down any MMAL resources, then releases any allocated data
* within the mmalcam context and frees the context itself.
* This function is also called from motion_init if first time connection
* fails and we start retrying until we get a valid first frame from the
* camera.
*
* Parameters:
*
* mmalcam Pointer to a mmalcam context
*
* Returns: Nothing.
*
*/
void mmalcam_cleanup(struct context *cnt)
{
mmalcam_context *mmalcam = cnt->mmalcam;
MOTION_LOG(ALR, TYPE_VIDEO, NO_ERRNO, "MMAL Camera cleanup");
if (mmalcam != NULL ) {
disable_components_and_ports(mmalcam);
mmal_output_deinit(&mmalcam->camera_output);
mmal_output_deinit(&mmalcam->secondary_output);
destroy_components(mmalcam);
if (mmalcam->camera_parameters) {
free(mmalcam->camera_parameters);
}
if (mmalcam->raw_capture_file) {
fclose(mmalcam->raw_capture_file);
}
free(mmalcam);
}
}
/**
* mmalcam_next
*
* This routine is called when the main 'motion' thread wants a new
* frame of video. It fetches the most recent frame available from
* the Pi camera already in YUV420P, and returns it to motion.
*
* Parameters:
* cnt Pointer to the context for this thread
* map Pointer to a buffer for the returned image
* imgdat Pointer
*
* Returns: Error code
*/
int mmalcam_next(struct context *cnt, struct image_data* imgdat)
{
mmalcam_context_ptr mmalcam;
if ((!cnt) || (!cnt->mmalcam))
return NETCAM_FATAL_ERROR;
mmalcam = cnt->mmalcam;
MOTION_LOG(DBG, TYPE_VIDEO, NO_ERRNO, "%s: mmalcam_next - start");
mmal_output_process_buffer(&mmalcam->camera_output, imgdat->image, cnt->imgs.size);
if (cnt->imgs.secondary_size && imgdat != NULL) {
imgdat->secondary_size = mmal_output_process_buffer(&mmalcam->secondary_output, imgdat->secondary_image, cnt->imgs.secondary_size);
}
MOTION_LOG(DBG, TYPE_VIDEO, NO_ERRNO, "%s: mmalcam_next - buffer processing completed");
if (mmalcam->cnt->conf.mmalcam_use_still) {
int curr_time = get_elapsed_time_ms();
int capture_time_delta = curr_time - mmalcam->last_still_capture_time_ms;
if (capture_time_delta < mmalcam->still_capture_delay_ms)
{
vcos_sleep(mmalcam->still_capture_delay_ms - capture_time_delta);
}
// According to RaspiCam source, may need to set shutter speed each time
mmal_port_parameter_set_uint32(mmalcam->camera_component->control, MMAL_PARAMETER_SHUTTER_SPEED,
mmalcam->camera_parameters->shutter_speed);
if (mmal_port_parameter_set_boolean(mmalcam->camera_capture_port, MMAL_PARAMETER_CAPTURE, 1)
!= MMAL_SUCCESS) {
MOTION_LOG(ERR, TYPE_VIDEO, NO_ERRNO, "%s: MMAL camera capture start failed");
}
mmalcam->last_still_capture_time_ms = curr_time;
}
if (mmalcam->raw_capture_file) {
fwrite(imgdat->image, 1, cnt->imgs.size, mmalcam->raw_capture_file);
}
if (cnt->rotate_data.degrees > 0)
rotate_map(cnt, imgdat->image);
return 0;
}
void mmalcam_select_as_plugin(struct context *cnt)
{
cnt->video_source.video_source_start_fn = mmalcam_start;
cnt->video_source.video_source_next_fn = mmalcam_next;
cnt->video_source.video_source_cleanup_fn = mmalcam_cleanup;
}